World Academy of Science, Engineering and Technology
Published January 21, 2008 | Version 4990
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Genetic Algorithm Based Optimal Control for a 6-DOF Non Redundant Stewart Manipulator

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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.

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References

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