Position Control of a 3R Underactuated Robot Based on Genetic Algorithm
نویسندگان
چکیده
Abstract—The dynamic control of a 3R underactuated robot is investigated in this paper. The second order nonholonomic dynamic equation of the robot is derived. An intelligent control method is proposed for the position control of underactuated manipulator based on genetic algorithm. A new fuzzy controller for motion control of underactuated robot is presented, in which the joint angular errors are directly feed backed to the input of the fuzzy system and the decoupling control is achieved by constructing sub model relationship matrix for the MIMO system. The fuzzy control rules are automatically generated off-line with the global optimization of genetic algorithm. Numerical simulation for the position control of a planar 3R underactuated robots shows the effectiveness of the proposed method. 1
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