Intelligent active force control of a robotic arm using genetic algorithm
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...
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| Format: | Article |
| Language: | en |
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Faculty of Mechanical Engineering
2002
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| Online Access: | http://eprints.utm.my/8286/3/MusaMailah2002_IntelligentActiveForceControlof.pdf http://eprints.utm.my/8286/ http://jurnalmekanikal.fkm.utm.my/ |
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| _version_ | 1845471979091525632 |
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| author | Mailah, Musa Wong, Min Yee Jamaluddin, Hishamuddin |
| author_facet | Mailah, Musa Wong, Min Yee Jamaluddin, Hishamuddin |
| author_sort | Mailah, Musa |
| building | UTM Library |
| collection | Institutional Repository |
| content_provider | Universiti Teknologi Malaysia |
| content_source | UTM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | 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. |
| format | Article |
| id | my.utm.eprints-8286 |
| institution | Universiti Teknologi Malaysia |
| language | en |
| publishDate | 2002 |
| publisher | Faculty of Mechanical Engineering |
| record_format | eprints |
| spelling | my.utm.eprints-82862017-10-16T01:12:19Z http://eprints.utm.my/8286/ Intelligent active force control of a robotic arm using genetic algorithm Mailah, Musa Wong, Min Yee Jamaluddin, Hishamuddin TJ Mechanical engineering and machinery 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. Faculty of Mechanical Engineering 2002-06 Article PeerReviewed application/pdf en http://eprints.utm.my/8286/3/MusaMailah2002_IntelligentActiveForceControlof.pdf Mailah, Musa and Wong, Min Yee and Jamaluddin, Hishamuddin (2002) Intelligent active force control of a robotic arm using genetic algorithm. Jurnal Mekanikal (13). ISSN 0127-3396 http://jurnalmekanikal.fkm.utm.my/ |
| spellingShingle | TJ Mechanical engineering and machinery Mailah, Musa Wong, Min Yee Jamaluddin, Hishamuddin Intelligent active force control of a robotic arm using genetic algorithm |
| title | Intelligent active force control of a robotic arm using genetic algorithm |
| title_full | Intelligent active force control of a robotic arm using genetic algorithm |
| title_fullStr | Intelligent active force control of a robotic arm using genetic algorithm |
| title_full_unstemmed | Intelligent active force control of a robotic arm using genetic algorithm |
| title_short | Intelligent active force control of a robotic arm using genetic algorithm |
| title_sort | intelligent active force control of a robotic arm using genetic algorithm |
| topic | TJ Mechanical engineering and machinery |
| url | http://eprints.utm.my/8286/3/MusaMailah2002_IntelligentActiveForceControlof.pdf http://eprints.utm.my/8286/ http://jurnalmekanikal.fkm.utm.my/ |
| url_provider | http://eprints.utm.my/ |