@article{(Open Science Index):https://publications.waset.org/pdf/13526,
	  title     = {PUMA 560 Optimal Trajectory Control using Genetic Algorithm, Simulated Annealing and Generalized Pattern Search Techniques},
	  author    = {Sufian Ashraf Mazhari and  Surendra Kumar},
	  country	= {},
	  institution	= {},
	  abstract     = {Robot manipulators are highly coupled nonlinear
systems, therefore real system and mathematical model of dynamics
used for control system design are not same. Hence, fine-tuning of
controller is always needed. For better tuning fast simulation speed
is desired. Since, Matlab incorporates LAPACK to increase the speed
and complexity of matrix computation, dynamics, forward and
inverse kinematics of PUMA 560 is modeled on Matlab/Simulink in
such a way that all operations are matrix based which give very less
simulation time. This paper compares PID parameter tuning using
Genetic Algorithm, Simulated Annealing, Generalized Pattern Search
(GPS) and Hybrid Search techniques. Controller performances for all
these methods are compared in terms of joint space ITSE and
cartesian space ISE for tracking circular and butterfly trajectories.
Disturbance signal is added to check robustness of controller. GAGPS
hybrid search technique is showing best results for tuning PID
controller parameters in terms of ITSE and robustness.},
	    journal   = {International Journal of Electrical and Computer Engineering},
	  volume    = {2},
	  number    = {5},
	  year      = {2008},
	  pages     = {830 - 839},
	  ee        = {https://publications.waset.org/pdf/13526},
	  url   	= {https://publications.waset.org/vol/17},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 17, 2008},
	}