Evolutionary Design of Inverse Dynamics Controllers for Multiple Arm Co-operating Manipulator Systems

The In this paper a novel hybrid evolutionary algorithm (HEA) method is used to find optimal feedback gains for inverse dynamics controllers. It is shown that HEA efficiently finds the optimal feedback gains to improve the performances of inverse dynamics controllers for end-effector tracking con- trol in highly complex, nonlinear, multi-arm manipulator systems. The feed- back gain tuning is studied for constrained, co-operating manipulator systems for both fixed-base and free-floating, multi-arm, space manipulator systems un- der zero gravity.