Evolutionary Design of Inverse Dynamics Controllers for Multiple Arm Co-operating Manipulator Systems

Swain, Anjan Kumar; Bjanta, Urmila*; Morris, Alan S.*

dc.contributor.author	Swain, Anjan Kumar
dc.contributor.author	Bjanta, Urmila*
dc.contributor.author	Morris, Alan S.*
dc.date.accessioned	2015-03-19T09:14:37Z
dc.date.available	2015-03-19T09:14:37Z
dc.date.issued	2005
dc.identifier.uri	http://hdl.handle.net/2259/248
dc.description	2nd Indian International Conference on Artificial Intelligence. Bhanu Prasad (Editor): IICAI-05, pp. 54-71, 2005., * External Authors	en_US
dc.description.abstract	In this paper a novel hybrid evolutionary algorithm (HEA) method is used to find optimal feedback gains for inverse dynamics controllers. It is shown that HEA efficiently finds the optimal feedback gains to improve the performances of inverse dynamics controllers for end-effector tracking control in highly complex, nonlinear, co-operating manipulator systems for both fixed-base and free-floating, multi-arm, space manipulator systems under zero gravity.	en_US
dc.language.iso	en	en_US
dc.publisher	IICAI	en_US
dc.subject	Hybrid Evolutionary algorithm	en_US
dc.subject	HEA	en_US
dc.subject	Inverse dynamic controllers	en_US
dc.title	Evolutionary Design of Inverse Dynamics Controllers for Multiple Arm Co-operating Manipulator Systems	en_US
dc.type	Other	en_US