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Please use this identifier to cite or link to this item: http://hdl.handle.net/2259/280

Title: Evolutionary Design of Inverse Dynamics Controllers for Multiple Arm Co-operating Manipulator Systems
Authors: Swain, Anjan Kumar
Bjanta, Urmila*
Morris, Alan S.*
Keywords: Hybrid Evolutionary algorithm
HEA
Inverse dynamic controllers
Issue Date: 2005
Publisher: IICAI
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.
Description: 2nd Indian International Conference on Artificial Intelligence. Bhanu Prasad (Editor): IICAI-05, pp. 54-71, 2005., * External Authors
URI: http://hdl.handle.net/2259/280
Appears in Collections:Conference Proceedings

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