Genetic Algorithm Based Optimal Control for a 6-DOF Non Redundant Stewart Manipulator
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.
[1] Nag, I., and Chong, W., "High Speed Tracking Control of Stewart
Platform Manipulator via Enhanced Sliding Mode Control," IEEE
International Conference on Robotics & Automation, Leuven, Belgium,
pp. 2716-2721. May 1998.
[2] Yung, T., Yu-Shin, C., and Ho-Chin J, "Modeling and Control for a
Gough-Stewart Platform CNC Machine," Journal of Robotic Systems,
No. 2, Vol. 11, pp 609-623. June 2004.
[3] Dietmaier, P., "The Stewart-Gough Platform of General Geometry Can
Have 40 Real Postures," Advances in Robot Kinematics: Analysis and
Control, Kluwer Academic Publishers, pp. 7-16. 1998.
[4] Pratik, J., and Sarah, Y., "A Hybrid Strategy to Solve the Forward
Kinematics Problem in Parallel Manipulators," IEEE Trans. Robot and
Automat. Vol. 21, pp. 18-25. February 2005.
[5] Sadjadian, H., and Taghirad, H., "Comparison of Different Methods for
Computing the Forward Kinematics of a Redundant Parallel
Manipulator," Journal of Intelligent and Robotic Systems, 2005.
[6] Sadjadian, H., Taghirad, H., and Fatehi, A., "Neural Networks
Approaches for Computing the Forward Kinematics of a Redundant
Parallel Manipulator," International Journal of Computational
Intelligence Vol. 2, No. 1, pp. 40-47. 2005.
[7] Lian, B., Jeha, R., Sung-Gaun, K., and Sun-Kyu, L., "A Closed-Form
Solution to the Direct Kinematics of Nearly General Parallel
Manipulators with Optimally Located Three Linear Extra Sensors,"
IEEE Trans. Robot and Automat. Vol. 17, pp 148-156. April 2001.
[8] Liu, K., Fitzgerald, M., and Lewis, F., "Kinematic Analysis of a Stewart
Platform Manipulator," IEEE Trans. Industrial Electronics, Vol. 40, No.
2, pp. 282-293. 1993.
[9] Liu, K., Lewis, F., and Fitzgerald, M., "Solution of Nonlinear
Kinematics of a Parallel-Link Constrained Stewart Platform
Manipulator," Circuits, Systems, and Signal Proc., Special Issue on
"Implicit and Robust Systems," Vol. 13, No. 2-3, pp. 167-183. 1994.
[10] Pasquale, C., Francois, P., Lorenzo, S., and Bruno, S., "Robust Design
of Independent Joint Controllers with Experimentation on a High-Speed
Parallel Robot," IEEE Trans on Industrial Electronics, Vol. 40, pp. 393-
403. August, 1993.
[11] Li, D., and Salcudean, S., "Modeling, Simulation, and Control of a
Hydraulic Stewart Platform," IEEE Int. Conf on Robotics and
Automation, Albuquerque, New Mexico, April 1997.
[12] Fang, C., Hung-Hsiang, C., and Chin-Teng, L., "Fuzzy Control of a Sixdegree
Motion Platform with Stability Analysis," IEEE SMC
Conference, Vol. l 1, pp. 325-330. October, 1999.
[13] Su, Y., Duan, Y., Zheng, C., Zhang, Y., Chen, G., and Mi, J.,
"Disturbance-Rejection High-Precision Motion Control of a Stewart
Platform," IEEE Trans. on control systems technology, Vol. 12, pp364-
374, May 2004.
[14] Sciavicco, L., and Siciliano, B., "Modeling and Control of Robot
Manipulators," Springer, Second Edition. April, 2001.
[15] M.-J. Liu, C.-X. Li, and C.-N. Li, "Dynamics Analysis of the Gough-
Stewart Platform Manipulator," IEEE Trans. Robot and Automat, Vol.
16, pp. 94-98. February, 2000.
[16] Dasgupta, M., and Mruthyunjaya, T., "A Newton-Euler Formulation for
the Inverse Dynamics of the Stewart Platform Manipulator," Mech.
Mach. Theory, Vol. 33, No. 8, pp. 1135-1152. November, 1998.
[17] Tsai, L., "Solving the inverse dynamics of a Stewart-Gough
Manipulator by The Principle of Virtual Work," J. Mech. Des., Vol. 122,
pp. 3-9. March, 2000.
[18] Khalil, W., and Guegan, S., "Inverse and Direct Dynamic Modeling of
Gough-Stewart Robots," IEEE Trans. Robot and Automat, Vol. 20, pp.
754-761. August, 2004.
[19] Fu, S., and Yao, Y., "Comments on "A Newton-Euler Formulation for
the Inverse Dynamics of the Stewart Platform Manipulator," Mech.
Mach. Theory, Vol. 8, pp. 1-3. Jan, 2006.
[20] Holland, J., "Adaptation in Natural and Artificial Systems," The
University of Michigan Press. 1975.
[21] Goldberg, E., "The Design of Innovation: Lessons from and for
Competent Genetic Algorithms," Boston, Kluwer Academic Publishers,
2002.
[22] John, J., "Optimization of Control Parameters for Genetic Algorithms,"
IEEE Trans on System, Man, and Cybernetics, Vol. 16, No. 1, pp. 566-
574. 1986.
[23] Haruhisa K, and Geng L, "Gain Tuning in Discrete-Time Adaptive
Control for Robots," SICE Annual Conference in Fukui. August, 2003.
[24] Faa-Jeng, L, and Chih-Hong, L., "On-line Gain Tuning Using RFNN for
Linear Synchronous Motor," IEEE, PESC, Vol. 2, pp. 766-771. June,
2001.
[25] Baogang, H., Senior, M., George, K., and Raymond, G., "New
Methodology for Analytical and Optimal Design of Fuzzy PID
Controllers," IEEE Tran on Fuzzy System, Vol. 7, pp 521-539. October,
1999.
[26] Chris, M., "Genetic Algorithms for Auto-Tuning Mobile Robot Motion
Control," Res. Lett. Inf. Math. Sci, Vol. 3, pp. 129-134. 2002.
[1] Nag, I., and Chong, W., "High Speed Tracking Control of Stewart
Platform Manipulator via Enhanced Sliding Mode Control," IEEE
International Conference on Robotics & Automation, Leuven, Belgium,
pp. 2716-2721. May 1998.
[2] Yung, T., Yu-Shin, C., and Ho-Chin J, "Modeling and Control for a
Gough-Stewart Platform CNC Machine," Journal of Robotic Systems,
No. 2, Vol. 11, pp 609-623. June 2004.
[3] Dietmaier, P., "The Stewart-Gough Platform of General Geometry Can
Have 40 Real Postures," Advances in Robot Kinematics: Analysis and
Control, Kluwer Academic Publishers, pp. 7-16. 1998.
[4] Pratik, J., and Sarah, Y., "A Hybrid Strategy to Solve the Forward
Kinematics Problem in Parallel Manipulators," IEEE Trans. Robot and
Automat. Vol. 21, pp. 18-25. February 2005.
[5] Sadjadian, H., and Taghirad, H., "Comparison of Different Methods for
Computing the Forward Kinematics of a Redundant Parallel
Manipulator," Journal of Intelligent and Robotic Systems, 2005.
[6] Sadjadian, H., Taghirad, H., and Fatehi, A., "Neural Networks
Approaches for Computing the Forward Kinematics of a Redundant
Parallel Manipulator," International Journal of Computational
Intelligence Vol. 2, No. 1, pp. 40-47. 2005.
[7] Lian, B., Jeha, R., Sung-Gaun, K., and Sun-Kyu, L., "A Closed-Form
Solution to the Direct Kinematics of Nearly General Parallel
Manipulators with Optimally Located Three Linear Extra Sensors,"
IEEE Trans. Robot and Automat. Vol. 17, pp 148-156. April 2001.
[8] Liu, K., Fitzgerald, M., and Lewis, F., "Kinematic Analysis of a Stewart
Platform Manipulator," IEEE Trans. Industrial Electronics, Vol. 40, No.
2, pp. 282-293. 1993.
[9] Liu, K., Lewis, F., and Fitzgerald, M., "Solution of Nonlinear
Kinematics of a Parallel-Link Constrained Stewart Platform
Manipulator," Circuits, Systems, and Signal Proc., Special Issue on
"Implicit and Robust Systems," Vol. 13, No. 2-3, pp. 167-183. 1994.
[10] Pasquale, C., Francois, P., Lorenzo, S., and Bruno, S., "Robust Design
of Independent Joint Controllers with Experimentation on a High-Speed
Parallel Robot," IEEE Trans on Industrial Electronics, Vol. 40, pp. 393-
403. August, 1993.
[11] Li, D., and Salcudean, S., "Modeling, Simulation, and Control of a
Hydraulic Stewart Platform," IEEE Int. Conf on Robotics and
Automation, Albuquerque, New Mexico, April 1997.
[12] Fang, C., Hung-Hsiang, C., and Chin-Teng, L., "Fuzzy Control of a Sixdegree
Motion Platform with Stability Analysis," IEEE SMC
Conference, Vol. l 1, pp. 325-330. October, 1999.
[13] Su, Y., Duan, Y., Zheng, C., Zhang, Y., Chen, G., and Mi, J.,
"Disturbance-Rejection High-Precision Motion Control of a Stewart
Platform," IEEE Trans. on control systems technology, Vol. 12, pp364-
374, May 2004.
[14] Sciavicco, L., and Siciliano, B., "Modeling and Control of Robot
Manipulators," Springer, Second Edition. April, 2001.
[15] M.-J. Liu, C.-X. Li, and C.-N. Li, "Dynamics Analysis of the Gough-
Stewart Platform Manipulator," IEEE Trans. Robot and Automat, Vol.
16, pp. 94-98. February, 2000.
[16] Dasgupta, M., and Mruthyunjaya, T., "A Newton-Euler Formulation for
the Inverse Dynamics of the Stewart Platform Manipulator," Mech.
Mach. Theory, Vol. 33, No. 8, pp. 1135-1152. November, 1998.
[17] Tsai, L., "Solving the inverse dynamics of a Stewart-Gough
Manipulator by The Principle of Virtual Work," J. Mech. Des., Vol. 122,
pp. 3-9. March, 2000.
[18] Khalil, W., and Guegan, S., "Inverse and Direct Dynamic Modeling of
Gough-Stewart Robots," IEEE Trans. Robot and Automat, Vol. 20, pp.
754-761. August, 2004.
[19] Fu, S., and Yao, Y., "Comments on "A Newton-Euler Formulation for
the Inverse Dynamics of the Stewart Platform Manipulator," Mech.
Mach. Theory, Vol. 8, pp. 1-3. Jan, 2006.
[20] Holland, J., "Adaptation in Natural and Artificial Systems," The
University of Michigan Press. 1975.
[21] Goldberg, E., "The Design of Innovation: Lessons from and for
Competent Genetic Algorithms," Boston, Kluwer Academic Publishers,
2002.
[22] John, J., "Optimization of Control Parameters for Genetic Algorithms,"
IEEE Trans on System, Man, and Cybernetics, Vol. 16, No. 1, pp. 566-
574. 1986.
[23] Haruhisa K, and Geng L, "Gain Tuning in Discrete-Time Adaptive
Control for Robots," SICE Annual Conference in Fukui. August, 2003.
[24] Faa-Jeng, L, and Chih-Hong, L., "On-line Gain Tuning Using RFNN for
Linear Synchronous Motor," IEEE, PESC, Vol. 2, pp. 766-771. June,
2001.
[25] Baogang, H., Senior, M., George, K., and Raymond, G., "New
Methodology for Analytical and Optimal Design of Fuzzy PID
Controllers," IEEE Tran on Fuzzy System, Vol. 7, pp 521-539. October,
1999.
[26] Chris, M., "Genetic Algorithms for Auto-Tuning Mobile Robot Motion
Control," Res. Lett. Inf. Math. Sci, Vol. 3, pp. 129-134. 2002.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:54093", author = "A. Omran and G. El-Bayiumi and M. Bayoumi and A. Kassem", title = "Genetic Algorithm Based Optimal Control for a 6-DOF Non Redundant Stewart Manipulator", 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.
", keywords = "Stewart kinematics, Stewart dynamics, task space control, genetic algorithm.", volume = "2", number = "1", pages = "6-7", }
