2013 Volume 79 Issue 802 Pages 1970-1979
This paper proposes a method for designing an image-based fuzzy controller for trajectory tracking by using a genetic algorithm (GA). Although a controller designed by a GA cannot work well on real robots as same as simulations due to modeling errors, this paper tries to reduce the influence of the modeling errors by adding motion noises to the simulations in the design process. The proposed method is evaluated through some simulations and real robot experiments for a target trajectory consisting of a straight and a sine wave. It is shown from experimental results that the target trajectory can be tracked not only in simulations but also to a real robot by introducing an appropriate evaluation function for the GA and adding the amount of motion noises properly.
Transactions of the Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers Series A
Transactions of the Japan Society of Mechanical Engineers Series B
Transactions of the Japan Society of Mechanical Engineers Series C
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series B