Practical implementation of genetically designed computed-torque/fuzzy-logic controllers for robotic manipulators

In this paper, experimental results are presented which were obtained by testing a practical direct-drive two-link robotic manipulator. In these tests, the trajectory-tracking performance of genetically optimized non-fuzzy computed-torque/PD controller is compared with that of two kinds of genetically designed computed-torque/fuzzy-logic controller. The experimental results are very encouraging and indicate that genetically designed computed-torque/fuzzy-logic controllers may be suitable for routine use with industrial robots.