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Modeling and Simulation of Robotic Arm Movement using Soft Computing

By V. K. Banga, Jasjit Kaur, R. Kumar and Y. Singh

Abstract

Abstract—In this research paper we have presented control architecture for robotic arm movement and trajectory planning using Fuzzy Logic (FL) and Genetic Algorithms (GAs). This architecture is used to compensate the uncertainties like; movement, friction and settling time in robotic arm movement. The genetic algorithms and fuzzy logic is used to meet the objective of optimal control movement of robotic arm. This proposed technique represents a general model for redundant structures and may extend to other structures. Results show optimal angular movement of joints as result of evolutionary process. This technique has edge over the other techniques as minimum mathematics complexity used

Topics: Genetic algorithms (GAs, Fuzzy logic (FL, Optimal control
Year: 2013
OAI identifier: oai:CiteSeerX.psu:10.1.1.309.705
Provided by: CiteSeerX
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