Intelligent active force control of a robotic arm using genetic algorithm

• Main Authors: Mailah, Musa, Wong, Min Yee, Jamaluddin, Hishamuddin
• Format: Article
• Language: English
• Published: Faculty of Mechanical Engineering 2002
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://eprints.utm.my/id/eprint/8286/3/MusaMailah2002_IntelligentActiveForceControlof.pdf; http://eprints.utm.my/id/eprint/8286/; http://jurnalmekanikal.fkm.utm.my/

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...