Universiti Teknologi Malaysia Institutional Repository

Intelligent active force control of a robotic arm using genetic algorithm

Mailah, Musa and Min Yee, Wong and Jamaluddin, Hishamuddin (2002) Intelligent active force control of a robotic arm using genetic algorithm. Jurnal Mekanikal (13). ISSN 0127-3396

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Abstract

The main requirement of an active force control (AFC) applied to a dynamical system is the estimation of the inertia matrix, IN to compensate for the disturbances and uncertainties in the system. In this paper, genetic algorithm (GA) is used to estimate suitable value of IN of a robotic manipulator necessary for the implementation of the AFC strategy through a simulation study. A set of constant torques at the joints is deliberately introduced as the disturbance mechanism to test the effectiveness of the proposed scheme. The results show that the GA used in the study being a stochastic and global optimizer successfully computes appropriate IN value to effect the control action. The proposed scheme exhibits a high degree of robustness and accuracy as the track error is bounded within an acceptable range of value even under the influence of the introduced disturbance.

Item Type:Article
Uncontrolled Keywords:active force control, robot manipulators, dynamic systems
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Mechanical Engineering
ID Code:8286
Deposited By: Ms Zalinda Shuratman
Deposited On:17 Apr 2009 02:48
Last Modified:16 Oct 2012 02:13

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