Dynamic modelling of a single link flexible manipulator in vertical motion using swarm and genetic optimisation

Md. Zain, B. A. and Tokhi, M. Osman and Toha, Siti Fauziah (2009) Dynamic modelling of a single link flexible manipulator in vertical motion using swarm and genetic optimisation. In: Proceedings of 12th International Conference on climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR09), 9-11 September, Istanbul, Turkey.

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Abstract

In this research, particle swann optimisation (PSO) and genetic algorithm (GA) are used to model a single-link flexible manipulator. Investigations focus on characterizing the system from input torque to hub-angle, hub-velocity and end-point acceleration. A simulation environment characterizing the system behaviour in vertical motion is used as a platfonn to test and verifY the PSO and GA based transfer function models. The environment is based on finite difference discretisation of the goveming dynamic equation of motion of the system. The system is treated as a single-input multioutput system, and the input/output data collected is used with PSO and GA to develop models of the system based on autoregressive moving average model structure and one-step-ahead prediction. Comparative assessment of the results is presented and discussed in the time and frequency domains.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	4680/18861
Uncontrolled Keywords:	Auto-regressive moving average model; Comparative assessment; Input/output datum; Multi-output systems; Simulation environment; Single-link flexible manipulators; Time and frequency domains; Transfer function model
Subjects:	T Technology > T Technology (General) T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr. Siti Fauziah Toha
Date Deposited:	03 Nov 2014 15:37
Last Modified:	03 Nov 2014 15:37
URI:	http://irep.iium.edu.my/id/eprint/18861

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