@article{(Open Science Index):https://publications.waset.org/pdf/4990, title = {Genetic Algorithm Based Optimal Control for a 6-DOF Non Redundant Stewart Manipulator}, author = {A. Omran and G. El-Bayiumi and M. Bayoumi and A. Kassem}, country = {}, institution = {}, abstract = {Applicability of tuning the controller gains for Stewart manipulator using genetic algorithm as an efficient search technique is investigated. Kinematics and dynamics models were introduced in detail for simulation purpose. A PD task space control scheme was used. For demonstrating technique feasibility, a Stewart manipulator numerical-model was built. A genetic algorithm was then employed to search for optimal controller gains. The controller was tested onsite a generic circular mission. The simulation results show that the technique is highly convergent with superior performance operating for different payloads. }, journal = {International Journal of Aerospace and Mechanical Engineering}, volume = {2}, number = {1}, year = {2008}, pages = {97 - 103}, ee = {https://publications.waset.org/pdf/4990}, url = {https://publications.waset.org/vol/13}, bibsource = {https://publications.waset.org/}, issn = {eISSN: 1307-6892}, publisher = {World Academy of Science, Engineering and Technology}, index = {Open Science Index 13, 2008}, }