Genetic Algorithms (GAs) have been successfully applied to a wide range of unstructured and nonlinear optimization problems. In this paper a scheme of fuzzy modelling to establish the inverse dynamic model for a designed fuzzy inverse model can be incorporated into the joint control loop of the robot manipulator to search a feedforward torque according to the input motion. The genetic algorithm is applied to optimize the membership functions and the structure of the rule base for the fuzzy inverse model of the robotic manipulator. Simulation based on a three-linked robotic manipulator is conducted and its results are presented.
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