Generation of efficient adjustment strategies for a fuzzy-neuro force controller using genetic algorithms - Application to robot force control in an unknown environment
作者： Kazuo Kiguchi , Keigo Watanabe , Toshio Fukuda
DOI: 10.1016/S0020-0255(02)00226-8
关键词:
摘要: Abstract This paper presents an effective generation method of adjustment strategies for a fuzzy-neuro force controller (FNFC) robot manipulator in unknown environment. In this method, to adjust the FNFC accordance with environment dynamics are automatically generated off-line manner using genetic algorithms (GA). The stored neural network and used adjusting on-line. Therefore, is adjusted which network. Fuzzy fitness evaluation proposed evolution GA process. effectiveness has been evaluated by computer simulation 3DOF model.
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