Genetic algorithms for optimal dynamic control of robot arms

This paper describes the use of genetic algorithms (GAs) for optimizing the parameters of PID controllers for a 6-DOF robot arm. An efficient GA is designed to optimal-tune the parameters of the PID controller of each joint for a single step response and for the tracking of other specified trajectories. This GA is required to optimize fitness functions related to the combinations of different performance indices such as ISE, time-optimal and others. The simulations are carried out on a PUMA 560 arm model being controlled by PID controllers with their parameters optimized using the proposed GA. The simulation results obtained are compared with that obtained by traditional optimization techniques, wherever applicable