Genetic Algorithm Based Optimal Control for a 6-DOF Non Redundant Stewart Manipulator
| Main Authors: | A. Omran, G. El-Bayiumi, M. Bayoumi, A. Kassem |
|---|---|
| Format: | Article eJournal |
| Bahasa: | eng |
| Terbitan: |
, 2008
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| Subjects: | |
| Online Access: |
https://zenodo.org/record/1060229 |
Daftar Isi:
- 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.