• Neha Kapoor

Precise trajectory tracking problem of a robotic manipulator demands mainly accurate models and the efficient control algorithms. Accurate manipulator models are yet not possible due to its characteristics of being highly non-linear and strongly coupled. Hence, accuracy in the trajectory tracking of robotic manipulator depends upon the characteristics and capability of the control system used for it. Recently, Support vector machines (SVMs) are used efficiently for classification and regression problems both [1] in various control problems. And the performance of SVM depends on the values of its free constant parameters. Hence to improvise SVM performance for the motion control problem of robotic manipulator, here in this paper, its free constant parameters have been optimized using optimization technique naming, ant colony optimization. Results obtained from the work done have been validated and compared with the GA and PSO optimized SVM controller for the motion control problem for the robotic manipulator chosen.

SVM, Non linear control systems, ACO

"Optimized SVM Based Control Scheme for Precise Motion Control of Robotic Manipulator", International Journal of Emerging Technologies and Innovative Research (www.jetir.org), ISSN:2349-5162, Vol.5, Issue 9, page no.689-696, September-2018, Available :http://www.jetir.org/papers/JETIR1809243.pdf

"Optimized SVM Based Control Scheme for Precise Motion Control of Robotic Manipulator", International Journal of Emerging Technologies and Innovative Research (www.jetir.org | UGC and issn Approved), ISSN:2349-5162, Vol.5, Issue 9, page no. pp689-696, September-2018, Available at : http://www.jetir.org/papers/JETIR1809243.pdf