%0 Journal Article
	%A A. Omran and  G. El-Bayiumi and  M. Bayoumi and  A. Kassem
	%D 2008
	%J International Journal of Aerospace and Mechanical Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 13, 2008
	%T Genetic Algorithm Based Optimal Control for a 6-DOF Non Redundant Stewart Manipulator
	%U https://publications.waset.org/pdf/4990
	%V 13
	%X 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.

	%P 97 - 103