Fuzzy-genetic optimal control for robotic systems

International Journal of Physical Sciences

V. K. Banga¹ 

关键词: Inverse kinematics;    genetic algorithms (GAs);    fuzzy logic (FL);    robotic arm.;   

DOI  :  10.5897/IJPS10.491

学科分类：物理（综合）

来源: Academic Journals

【 摘 要 】

In this paper, we present optimal control for movement and trajectory planning of a various degrees-of-freedom robots using fuzzy logic (FL) and genetic algorithms (GAs). We have evaluated and shown comparative analysis for three degree-of-freedom (3 DOF) and four degree-of-freedom (4 DOF) robotics arm to compensate the uncertainties like; Movement, friction and settling time in robotic arm movement. This paper describes genetic algorithms, which is designed to optimize robot movement and trajectory. Though the model represents is a general model for redundant structures and could represent any n-link structures. Results shows optimal angular movement of joints, it converges too quickly even if the population is very large. The result also shows the complete trajectory planning with FL and GAs and also demonstrating the flexibility of this technique.

【 授权许可】

CC BY