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Conference Paper: Practical implementation of genetically designed computed-torque/fuzzy-logic controllers for robotic manipulators

TitlePractical implementation of genetically designed computed-torque/fuzzy-logic controllers for robotic manipulators
Authors
Porter, BZadeh, NN
KeywordsComputers
Artificial intelligence mathematics
Issue Date1996
PublisherIEEE.
Citation
IEEE International Fuzzy Systems Conference Proceedings, New Orleans, Louisiana, 8-11 September 1996, v. 1, p. 36-41 How to Cite?
DOI: http://dx.doi.org/10.1109/FUZZY.1996.551716
AbstractIn this paper, experimental results are presented which were obtained by testing a practical direct-drive two-link robotic manipulator. In these tests, the trajectory-tracking performance of genetically optimized non-fuzzy computed-torque/PD controller is compared with that of two kinds of genetically designed computed-torque/fuzzy-logic controller. The experimental results are very encouraging and indicate that genetically designed computed-torque/fuzzy-logic controllers may be suitable for routine use with industrial robots.
Persistent Identifierhttp://hdl.handle.net/10722/46573
ISSN
1544-5615

 

DC FieldValueLanguage
dc.contributor.authorPorter, Ben_HK
dc.contributor.authorZadeh, NNen_HK
dc.date.accessioned2007-10-30T06:53:13Z-
dc.date.available2007-10-30T06:53:13Z-
dc.date.issued1996en_HK
dc.identifier.citationIEEE International Fuzzy Systems Conference Proceedings, New Orleans, Louisiana, 8-11 September 1996, v. 1, p. 36-41en_HK
dc.identifier.issn1544-5615en_HK
dc.identifier.urihttp://hdl.handle.net/10722/46573-
dc.description.abstractIn this paper, experimental results are presented which were obtained by testing a practical direct-drive two-link robotic manipulator. In these tests, the trajectory-tracking performance of genetically optimized non-fuzzy computed-torque/PD controller is compared with that of two kinds of genetically designed computed-torque/fuzzy-logic controller. The experimental results are very encouraging and indicate that genetically designed computed-torque/fuzzy-logic controllers may be suitable for routine use with industrial robots.en_HK
dc.format.extent346461 bytes-
dc.format.extent4653 bytes-
dc.format.mimetypeapplication/pdf-
dc.format.mimetypetext/plain-
dc.languageengen_HK
dc.publisherIEEE.en_HK
dc.rights©1996 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.subjectArtificial intelligence mathematicsen_HK
dc.titlePractical implementation of genetically designed computed-torque/fuzzy-logic controllers for robotic manipulatorsen_HK
dc.typeConference_Paperen_HK
dc.identifier.openurlhttp://library.hku.hk:4550/resserv?sid=HKU:IR&issn=1544-5615&volume=1&spage=36&epage=41&date=1996&atitle=Practical+implementation+of+genetically+designed+computed-torque/fuzzy-logic+controllers+for+robotic+manipulatorsen_HK
dc.description.naturepublished_or_final_versionen_HK
dc.identifier.doi10.1109/FUZZY.1996.551716en_HK
dc.identifier.hkuros28395-
dc.identifier.issnl1544-5615-

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