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Hybrid genetic algorithm PID control for a five-fingered smart prosthetic hand
| Content Provider | Semantic Scholar | 
|---|---|
| Author | Chen, Cheng-Hung Naidu, Desineni Subbaram | 
| Copyright Year | 2012 | 
| Abstract | A hybrid of soft control technique of adaptive neuro-fuzzy inference system (ANFIS) and genetic algorithm (GA) and hard control technique of proportional-integral-derivative (PID) for a five-fingered, smart prosthetic hand is presented. The ANFIS is used for inverse kinematics and GA is used for tuning the PID parameters with the objective of minimizing the error squared between desired and actual angles of the links of the fingers of the prosthetic hand. Simulation results for all the five fingers with GA-tuned PID controller exhibit superior performance compared to the PID control without GA. | 
| Starting Page | 57 | 
| Ending Page | 63 | 
| Page Count | 7 | 
| File Format | PDF HTM / HTML | 
| Alternate Webpage(s) | http://www.wseas.us/e-library/conferences/2012/Vouliagmeni/ACA/ACA-08.pdf | 
| Language | English | 
| Access Restriction | Open | 
| Content Type | Text | 
| Resource Type | Article |