Intelligent control system design redundant manipulator with a seven degrees of freedom. Pt.1: soft computing technology

The problem of control systems design with soft computing on example of 7 degrees of freedom manipulator is described. General methodology of robust knowledge base design using special intelligent toolkit (Knowledgebase Optimizator on soft computing technology) is developed. The efficiency of intelligent control systems by using soft computing technology is described in comparison with control system using constant coefficient gains of regulator. Set of performance criteria taking into account automatic control theory methods of transition estimations and tailored to concerned control object (7 degrees of freedom robot manipulator) is entered for estimate of control systems work. Estimate of control system work is performed by results of MatLab/Simulink simulation.