Optimal Control of Robot Manipulators Using Fuzzy Interaction Prediction System

Abstract

In this paper, a new fuzzy coordination method based on interaction prediction principle (IPP) is presented for the optimal control of robot manipulators. For this purpose, the robot manipulator is considered as a two-level large-scale system where in the first level, the overall system is decomposed into several subsystems. Each subsystem can include one or more consecutive links and joints. In the second level, a fuzzy interaction prediction system is introduced for coordination of the overall system where a critic vector is also used for evaluation of its performance. The simulation results of using the proposed novel approach ,for optimal control of robot manipulators, show its effectiveness and superiority in comparison with the centralized optimization methods.