A new fuzzy method for the motion control of underactuated robots based on genetic algorithm

Author

Liu, Qingbo ; Yu, Yueqing ; Xia, Qixiao ; Su, Liying

Author_Institution

Coll. of Mech. Eng.&Appl. Electron. Technol., Beijing Univ. of Technol., Beijing

fYear

2008

fDate

1-6 June 2008

Firstpage

999

Lastpage

1003

Abstract

A new fuzzy method for the motion control of underactuated robots is proposed in this paper. The control objective is to move the end-effector from a given position to a target point. A new fuzzy controller for the motion control of underactuated robots is present. The best fuzzy control rules and optimal membership functions are automatically generated off-line by the global optimization of genetic algorithm. Because the proposed method does not make any hypothesis about the degree of freedom and unconsidering the rigorous linearizations to the original nonlinear system, it can be used without modification for arms with a large number of degree of freedom. At last, numerical simulations which are carried on the planar 2R underactuated robots show the effectiveness of the proposed method.

Keywords

end effectors; fuzzy control; genetic algorithms; motion control; end-effector; fuzzy method; genetic algorithm; global optimization; motion control; optimal membership functions; underactuated robots; Arm; Automatic control; Fuzzy control; Genetic algorithms; Motion control; Motion planning; Nonlinear systems; Numerical simulation; Robotics and automation; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems, 2008. FUZZ-IEEE 2008. (IEEE World Congress on Computational Intelligence). IEEE International Conference on

Conference_Location

Hong Kong

ISSN

1098-7584

Print_ISBN

978-1-4244-1818-3

Electronic_ISBN

1098-7584

Type

conf

DOI

10.1109/FUZZY.2008.4630491

Filename

4630491