A hybrid intelligent active force controller for robot arms using evolutionary neural networks

• Main Authors: Hussein, S.B, Jamaluddin, H, Mailah, M, Zalzala, A.M.S
• Format: Article
• Language: English
• Published: ieee 2000
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/2294/1/Hussein2000__HybridIntelligentActiveForceController.pdf; http://eprints.utm.my/id/eprint/2294/
• Institution: Universiti Teknologi Malaysia

In this paper, we propose a hybrid intelligent parameter estimator for the active force control (AFC) scheme which utilizes evolutionary computation (EC) and artificial neural networks (ANN) to control a rigid robot arm. The EC part of the algorithm composes of a hybrid genetic algorithm (GA) and an...