Two-stage Weighted Fuzzy Rulebase Tuning Using Genetic Algorithm For Trajectory Control Of Puma560

摘要

In this paper, fuzzy controller for trajectory control of PUMA560 robot manipulator arm is tuned using Genetic Algorithm with two strategies of tuning, namely tuning of rules and weights in two stages. Stage-I involves tuning of Rules and Stage-II involves tuning of Rule-weights. This complete tuning strategy is applied to the Fuzzy PD+I controller of individual joints of PUMA560 robot.