Vestnik TVGU. Ser. Prikl. Matem. [Herald of Tver State University. Ser. Appl. Math.], 2013, Issue 2, Pages 95–103(Mi vtpmk135)
Intelligent Robust Control Of A Robotic Manipulator Based On Soft Computing
Nikolayeva Alena Valerianovna, Petrov Sergey Pavlovich, S. V. Ul'yanov
Institute of System Analysis and Management of the International University of Nature, Society and Human "Dubna".
Abstract:
The problems of designing control systems with various degrees of intelligence for 3 degrees of freedom manipulator are describes in the article. General methodology of design robust knowledge bases by usage special intelligent toolkit (Knowledgebase Optimizator on soft computing technology) is investigated. Two variations organization knowledge in control systems structures base on soft computing technologies are proposed: generation single knowledge base contained information about manipulator's three links, and method divided control (generation independent knowledge bases for particular links control). Comparison of two types of intelligent control systems is described: based on genetic algorithm and on soft computing technologies.
Keywords:Intelligent control system, knowledge base, soft computing technology, decomposition.
First page:
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