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Conference Paper: Genetic robustification of digital trajectory: tracking controllers for robotic manipulators

TitleGenetic robustification of digital trajectory: tracking controllers for robotic manipulators
Authors
Porter, BAllaoui, C
KeywordsComputers
Cybernetics
Issue Date1995
PublisherIEEE.
Citation
Intelligent Systems for the 21st Century, IEEE International Conference on Systems, Man, and Cybernetics Conference Proceedings, Vancouver, British Columbia, Canada, 22-25 Octoober 1995, v. 5, p. 4422-4427 How to Cite?
DOI: http://dx.doi.org/10.1109/ICSMC.1995.538490
AbstractIn this paper, genetic algorithms are used to robustify digital multivariable PID controllers for robotic manipulators. This process of robustification is effected by using genetic algorithms to determine the optimal set of controller tuning parameters for typical trajectory-tracking tasks. This use of genetic algorithms is illustrated by the design of a digital trajectory-tracking controller for a typical three-degree-of-freedom robotic manipulator.
Persistent Identifierhttp://hdl.handle.net/10722/46567
ISSN
1062-922X
2020 SCImago Journal Rankings: 0.168

 

DC FieldValueLanguage
dc.contributor.authorPorter, Ben_HK
dc.contributor.authorAllaoui, Cen_HK
dc.date.accessioned2007-10-30T06:53:06Z-
dc.date.available2007-10-30T06:53:06Z-
dc.date.issued1995en_HK
dc.identifier.citationIntelligent Systems for the 21st Century, IEEE International Conference on Systems, Man, and Cybernetics Conference Proceedings, Vancouver, British Columbia, Canada, 22-25 Octoober 1995, v. 5, p. 4422-4427en_HK
dc.identifier.issn1062-922Xen_HK
dc.identifier.urihttp://hdl.handle.net/10722/46567-
dc.description.abstractIn this paper, genetic algorithms are used to robustify digital multivariable PID controllers for robotic manipulators. This process of robustification is effected by using genetic algorithms to determine the optimal set of controller tuning parameters for typical trajectory-tracking tasks. This use of genetic algorithms is illustrated by the design of a digital trajectory-tracking controller for a typical three-degree-of-freedom robotic manipulator.en_HK
dc.format.extent385428 bytes-
dc.format.extent4653 bytes-
dc.format.mimetypeapplication/pdf-
dc.format.mimetypetext/plain-
dc.languageengen_HK
dc.publisherIEEE.en_HK
dc.rights©1995 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.-
dc.subjectComputersen_HK
dc.subjectCyberneticsen_HK
dc.titleGenetic robustification of digital trajectory: tracking controllers for robotic manipulatorsen_HK
dc.typeConference_Paperen_HK
dc.identifier.openurlhttp://library.hku.hk:4550/resserv?sid=HKU:IR&issn=1062-922X&volume=5&spage=4422&epage=4427&date=1995&atitle=Genetic+robustification+of+digital+trajectory:+tracking+controllers+for+robotic+manipulatorsen_HK
dc.description.naturepublished_or_final_versionen_HK
dc.identifier.doi10.1109/ICSMC.1995.538490en_HK
dc.identifier.hkuros20990-
dc.identifier.issnl1062-922X-

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