Metode Neuro-Fuzzy Berbasis Algoritma Genetika Untuk Penyelesaian lnvers Kinematika Diferensial Robot Manipulator  

Oleh:

Arifin, Imam ; Jazidie, Achmad

Jenis: Article from Journal - ilmiah nasional - tidak terakreditasi DIKTI
Dalam koleksi: Gematek: Jurnal Teknik Komputer vol. 7 no. 1 (Mar. 2005), page 1-13.
Topik: Neuro fuzzy; genetic based neuro fuzzy; kinematic inverse; kinematic diferential; jacobian matrix

Ketersediaan

Perpustakaan Pusat (Semanggi) Nomor Panggil: GG6.2 Non-tandon: 1 (dapat dipinjam: 0) Tandon: tidak ada

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Isi artikel

Kinematic using Jacobian inverse matrix needs long time. If kinematic inverse as a part of scheme control system, can cause delay in real time robotic. From motion of mankind, has been developed solutions kinematic inverse using fuzzy logic mapping. In this research uses Genetic - Based Neuro - Fuzzy method, for solving the kinematic inverse problem. This method consists of three steps learning process : first determine function membership, determine the rule of IF - THEN, and then scaling membership function. Edited done in fuzzy model using neural network and genetic algorithm got good result. The effectivity of this method is evaluated by using computer simulation.

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