제어로봇시스템학회:학술대회논문집

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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GA-fuzzy $P^2ID$ Control System for Flexible-joint Robot Arm

  • Tangcharoensuk, Teranun (Department of Information Engineering Faculty of Engineering King Mongkut's Institute of Technology Ladkrabang) ;
  • Purahong, Boonchana (Department of Information Engineering Faculty of Engineering King Mongkut's Institute of Technology Ladkrabang) ;
  • Sooraksa, Pitikhate (Department of Information Engineering Faculty of Engineering King Mongkut's Institute of Technology Ladkrabang)
  • 발행 : 2005.06.02
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초록

This paper presents a GA-fuzzy $P^2ID$ control system for the flexible-joint robot arm. This controller is designed based on the parameter adjustment using fuzzy logic and genetic algorithms. According to the simulations, the better performance has been achieved acquired that the robot moved smoothly and met its required objectives. The results of comparison between 8 parameters and 10 parameters can be conclusion that the 10 parameters have setting time little than 8 parameters. In usability can be use 8 or 10 parameters these one.

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