Abstract
In this paper, fuzzy controller for the trajectory control of PUMA560 robot manipulator arm is approximated into a Bi-variate Polynomial using Genetic Algorithm. In the proposed method, initially Fuzzy PD+I controller is used for control of PUMA560. The input and output data points are collected from the Fuzzy PD controllers of individual joints. With these data points a bi-variate polynomial approximation function is obtained through interpolation process using genetic algorithm. This Fuzzy PD controller approximate is then employed and evaluated.
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Mona Subramaniam, A., Manju, A., Nigam, M.J. (2010). Bi-variate Polynomial Approximation of Fuzzy Controller Using Genetic Algorithm for Trajectory Control of PUMA560. In: Das, V.V., Vijaykumar, R. (eds) Information and Communication Technologies. ICT 2010. Communications in Computer and Information Science, vol 101. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15766-0_5
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DOI: https://doi.org/10.1007/978-3-642-15766-0_5
Publisher Name: Springer, Berlin, Heidelberg
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