Practical implementation of genetically designed computed-torque/fuzzy-logic controllers for robotic manipulators

Author

Porter, B. ; Zadeh, N.N.

Author_Institution

Dept. of Ind. & Manuf. Syst. Eng., Hong Kong Univ., Hong Kong

Volume

1

fYear

1996

fDate

8-11 Sep 1996

Firstpage

36

Abstract

In this paper, experimental results are presented which were obtained by testing a practical direct-drive two-link robotic manipulator. In these tests, the trajectory-tracking performance of genetically optimized non-fuzzy computed-torque/PD controller is compared with that of two kinds of genetically designed computed-torque/fuzzy-logic controller. The experimental results are very encouraging and indicate that genetically designed computed-torque/fuzzy-logic controllers may be suitable for routine use with industrial robots

Keywords

control system synthesis; fuzzy control; fuzzy set theory; genetic algorithms; industrial manipulators; manipulator dynamics; position control; time-domain analysis; tracking; computed-torque fuzzy-logic controllers; fuzzy set theory; genetic algorithm; industrial robots; time domain analysis; trajectory-tracking; two-link robotic manipulator; Fuzzy sets; Genetic algorithms; Manipulators; PD control; Proportional control; Robot control; Robust control; Service robots; Testing; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems, 1996., Proceedings of the Fifth IEEE International Conference on

Conference_Location

New Orleans, LA

Print_ISBN

0-7803-3645-3

Type

conf

DOI

10.1109/FUZZY.1996.551716

Filename

551716