Title :
Genetic Fuzzy Based Tracking Control of 3 DOF Robot Arm
Author :
Alavandar, Srinivasan ; Nigam, M.J.
Author_Institution :
Dept. of Electron. & Comput. Eng., Indian Inst. of Technol. Roorkee, Roorkee
Abstract :
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.
Keywords :
control system analysis; control system synthesis; fuzzy control; genetic algorithms; manipulator dynamics; position control; three-term control; 3 DOF robot arm; PD controls; PID controller; genetic algorithm; genetic fuzzy based tracking control; manipulator; three degree of freedom robot arm; trajectory tracking; Fuzzy control; Fuzzy logic; Fuzzy sets; Genetic algorithms; Manipulators; Robot control; Service robots; Three-term control; Trajectory; Uncertainty; Degree of Freedom (DOF); Genetic Fuzzy systems; robot control;
Conference_Titel :
Emerging Trends in Engineering and Technology, 2008. ICETET '08. First International Conference on
Conference_Location :
Nagpur, Maharashtra
Print_ISBN :
978-0-7695-3267-7
Electronic_ISBN :
978-0-7695-3267-7
DOI :
10.1109/ICETET.2008.75
