Generation of evaluation function for robot force control using genetic programming

Kazuo Kiguchi, Keigo Watanabe, Kiyotaka Izumi, Toshio Fukuda

研究成果: Contribution to conferencePaper査読

1 被引用数 (Scopus)

抄録

Force control is one of the most important and fundamental tasks of robot manipulators. It is known that a neuro-fuzzy control method is one of the best control methods for robot force control. Usually, the neuro-fuzzy controller is trained to minimize the error function. However, unexpected response such as overshooting or oscillation might occur as far as only the control error is evaluated, since the dynamics of the robot and the environment is not reflected in the evaluation function. In this paper, we propose an effective evaluation function generation method using genetic programming. The effectiveness of the proposed method was evaluated by simulation.

本文言語英語
ページ2767-2771
ページ数5
出版ステータス出版済み - 12 1 2001
外部発表はい
イベントJoint 9th IFSA World Congress and 20th NAFIPS International Conference - Vancouver, BC, カナダ
継続期間: 7 25 20017 28 2001

その他

その他Joint 9th IFSA World Congress and 20th NAFIPS International Conference
Countryカナダ
CityVancouver, BC
Period7/25/017/28/01

All Science Journal Classification (ASJC) codes

  • Computer Science(all)
  • Mathematics(all)

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