Uncertainty Compensation and Optimization of Three and Four Degree-of-Freedom Robotics System using Genetic Algorithm

摘要

In this paper, we have evaluated comparative analysis using Genetic Algorithm for threerndegree-of -freedom (3 DOF) & four degree-of-freedom (4 DOF) robotics arm, which shown better results in 4 DOF as compare to 3 DOF. Uncertainties like; Movement, Friction and Settling Time in robotic arm movement have been compensated using Genetic Algorithm. We have proposed a low cost optimized solution for the movement of robotic arm using Genetic Algorithm (GA) and Analytical Hierarchy Process (AHP). A novel scheme is given for optimizing the movement of robotic arm with the help of Genetic Algorithm so that the minimum energy consumption criteria can be achieved. As compared to Direct Kinematics, Inverse Kinematics evolved multiple solutions out of which the best-fit solution is selected with the help of Genetic Algorithm and is kept in search space for future use. The Inverse Kinematics. Fitness Value evaluation and Binary Encoding like tasks are simulated and tested. Although, three factors viz. Movement, Friction and Settling Time are used for finding the Fitness Function/Fitness Values, however some more factors can also be considered.rnThe developed optimal control algorithm has shown 69% improvement in movement, 72% improvement in friction and 56% settling time of the cost function between two successive robotic arm structures.