Design of a fuzzy-genetic controller for an articulated robot gripper
In this study, a fuzzy logic controller (FLC) was designed to manipulate an articulated robot gripper. An idea from a previous study was utilized to enhance the performance of the FLC using genetic algorithms by optimizing newly-introduced coefficients in the membership functions of the FLC. The pro...
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| المؤلفون الرئيسيون: | , , , |
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| التنسيق: | text |
| منشور في: |
Animo Repository
2019
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| الوصول للمادة أونلاين: | https://animorepository.dlsu.edu.ph/faculty_research/1868 https://animorepository.dlsu.edu.ph/context/faculty_research/article/2867/type/native/viewcontent |
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| الملخص: | In this study, a fuzzy logic controller (FLC) was designed to manipulate an articulated robot gripper. An idea from a previous study was utilized to enhance the performance of the FLC using genetic algorithms by optimizing newly-introduced coefficients in the membership functions of the FLC. The proposed controller was applied on a robot gripper model in Simulink. All in all, the genetic algorithm was able to come up with optimized parameters after an average of at least eight (8) generations and the proposed controller was able to follow the reference trajectory more accurately than the simple fuzzy controller. Further research will be necessary for physical implementation and possible improvement of the utilized genetic algorithm. © 2018 IEEE. |
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