Generation of adjustment strategy of fuzzy-neural force controllers using genetic algorithms with fuzzy evaluation

This paper presents an effective force control method in which a fuzzy-neuro force controller is automatically adjusted in accordance with the unknown dynamics of an environment using a neural network. The adjustment strategy of the fuzzy-neural force controller, according to the environment dynamics, is automatically generated by the neural network in off-line manner using genetic algorithms with fuzzy evaluation. The effectiveness of the proposed force controller is evaluated by computer simulation with a 3-DOF planar robot manipulator model