{"title":"Genetic Algorithm Based Optimal Control for a 6-DOF Non Redundant Stewart Manipulator","authors":"A. Omran, G. El-Bayiumi, M. Bayoumi, A. Kassem","volume":13,"journal":"International Journal of Aerospace and Mechanical Engineering","pagesStart":97,"pagesEnd":104,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/4990","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.<\/p>\r\n","references":"[1] Nag, I., and Chong, W., \"High Speed Tracking Control of Stewart\r\nPlatform Manipulator via Enhanced Sliding Mode Control,\" IEEE\r\nInternational Conference on Robotics & Automation, Leuven, Belgium,\r\npp. 2716-2721. 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