基于遗传模糊的三自由度机械臂跟踪控制

2008 First International Conference on Emerging Trends in Engineering and Technology Pub Date : 2008-07-16 DOI:10.1109/ICETET.2008.75

Srinivasan Alavandar, M. Nigam

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引用次数: 6

摘要

控制机器人的关键问题是使机械手沿着预定的轨迹运动。本文提出了一种遗传算法调谐模糊PID控制器(GAFPID)，以使三自由度机械臂沿期望轨迹运动。利用三自由度机械臂的动力学模型进行了数值仿真，验证了该方法在轨迹跟踪问题中的有效性。通过对PD、PID和模糊PID控制的对比评价，验证了控制器的设计。实验结果表明，与传统控制器相比，所提出的控制器可以达到令人满意的跟踪精度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Genetic Fuzzy Based Tracking Control of 3 DOF Robot Arm

The essential problem in controlling robots is to make the manipulator follow a desired trajectory. This paper presents the genetic algorithm tuned fuzzy PID controller (GAFPID) to follow the desired trajectory for a three degree of freedom (DOF) robot arm. Numerical simulation using the dynamic model of three DOF robot arm shows the effectiveness of the approach in trajectory tracking problems. Comparative evaluation with respect to PD, PID and fuzzy PID controls are presented to validate the controller design. The results presented emphasize that a satisfactory tracking precision could be achieved using the proposed controller than conventional controller.

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2008 First International Conference on Emerging Trends in Engineering and Technology

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