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This paper mainly presents a method to model the 3-DOF manipulator with PID controller in Matlab-SimMechanics and the way to find out optimal parameters in the PID controller including: proportional gain, integral gain and derivative gain using the genetic algorithm (GA). For that aim, the 3-DOF manipulator will be simulated in order to perform a given task. The results achieved from the model show that difficulties in tuning parameters of PID controller can be solved using GA, whiledoi:10.13111/2066-8201.2017.9.4.8 fatcat:lsfdwlo2gfdwddxdzzzahsccia