Dynamic modelling of a single link flexible manipulator in vertical motion using swarm and genetic optimisation
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...
| Main Authors: | , , |
|---|---|
| Format: | Proceeding Paper |
| Language: | English English |
| Published: |
2009
|
| Subjects: | |
| Online Access: | http://irep.iium.edu.my/18861/ http://irep.iium.edu.my/18861/1/Dynamic_Final_C.pdf http://irep.iium.edu.my/18861/4/9789814291279_fmatter.pdf |
| _version_ | 1848778264546377728 |
|---|---|
| author | Md. Zain, B. A. Tokhi, M. Osman Toha, Siti Fauziah |
| author_facet | Md. Zain, B. A. Tokhi, M. Osman Toha, Siti Fauziah |
| author_sort | Md. Zain, B. A. |
| building | IIUM Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T14:59:07Z |
| format | Proceeding Paper |
| id | iium-18861 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T14:59:07Z |
| publishDate | 2009 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-188612014-11-03T07:37:32Z http://irep.iium.edu.my/18861/ Dynamic modelling of a single link flexible manipulator in vertical motion using swarm and genetic optimisation Md. Zain, B. A. Tokhi, M. Osman Toha, Siti Fauziah T Technology (General) TJ212 Control engineering 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. 2009 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/18861/1/Dynamic_Final_C.pdf application/pdf en http://irep.iium.edu.my/18861/4/9789814291279_fmatter.pdf 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. http://www.clawar.org/conferences.html |
| spellingShingle | T Technology (General) TJ212 Control engineering Md. Zain, B. A. Tokhi, M. Osman Toha, Siti Fauziah Dynamic modelling of a single link flexible manipulator in vertical motion using swarm and genetic optimisation |
| title | Dynamic modelling of a single link flexible manipulator in vertical motion using swarm and genetic optimisation |
| title_full | Dynamic modelling of a single link flexible manipulator in vertical motion using swarm and genetic optimisation |
| title_fullStr | Dynamic modelling of a single link flexible manipulator in vertical motion using swarm and genetic optimisation |
| title_full_unstemmed | Dynamic modelling of a single link flexible manipulator in vertical motion using swarm and genetic optimisation |
| title_short | Dynamic modelling of a single link flexible manipulator in vertical motion using swarm and genetic optimisation |
| title_sort | dynamic modelling of a single link flexible manipulator in vertical motion using swarm and genetic optimisation |
| topic | T Technology (General) TJ212 Control engineering |
| url | http://irep.iium.edu.my/18861/ http://irep.iium.edu.my/18861/ http://irep.iium.edu.my/18861/1/Dynamic_Final_C.pdf http://irep.iium.edu.my/18861/4/9789814291279_fmatter.pdf |