Genetic Algorithm Based High Performance Control for Rigid Robot Manipulators

In this paper, we address an evolutionary based computed torque control for rigid robot manipulator. Genetic algorithm approach is proposed for solving the formulated multi-objective problem, the objectives are the minimization of tracking error for each joint with constraints imposed on control inp...

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Bibliographic Details
Published inJournal of Computer Science and Control Systems Vol. 4; no. 2; p. 73
Main Authors Zerrouki, Nadjib, Goléa, Noureddine, Benoudjit, Nabil
Format Journal Article
LanguageEnglish
Published Oradea University of Oradea 01.10.2011
Subjects
Algorithms
Computer simulation
Genetic algorithms
High performance systems
Manipulators
Mathematical models
Robot arms
Robot control
Robotics
Robots
Studies
Torque
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Summary:In this paper, we address an evolutionary based computed torque control for rigid robot manipulator. Genetic algorithm approach is proposed for solving the formulated multi-objective problem, the objectives are the minimization of tracking error for each joint with constraints imposed on control input torque, and the problem arising was solved with NSGA II algorithm which presents a large set of nondominance solutions for experiment user to making best solution. Finally, we show simulation results to demonstrate the effectiveness of the proposed approach. [PUBLICATION ABSTRACT]
Bibliography:ObjectType-Article-2
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ISSN:1844-6043
2067-2101