Exponential-Based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System
This paper presents an exponential-based spiral dynamic algorithm (SDA) as an improved version of the original SDA. A simple structure with a unique feature of a spiral model in SDA leads the algorithm achieving fast convergence speed and short computation time. However, adopting a constant radius a...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Asian Research Publishing Network (ARPN)
2015
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/18513/ http://umpir.ump.edu.my/id/eprint/18513/1/jeas_1215_3192.pdf |
| _version_ | 1848820690267930624 |
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| author | Ahmad Nor Kasruddin, Nasir Raja Mohd Taufika, Raja Ismail Mohd Ashraf, Ahmad |
| author_facet | Ahmad Nor Kasruddin, Nasir Raja Mohd Taufika, Raja Ismail Mohd Ashraf, Ahmad |
| author_sort | Ahmad Nor Kasruddin, Nasir |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper presents an exponential-based spiral dynamic algorithm (SDA) as an improved version of the original SDA. A simple structure with a unique feature of a spiral model in SDA leads the algorithm achieving fast convergence speed and short computation time. However, adopting a constant radius and a constant angle into the spiral model of SDA causes the algorithm to trap into local optima solution. To overcome the problem, both radius and angle of the spiral model is adaptively varied throughout the search process. It can be done by incorporating an exponential-based radius and an exponential-based angle into the spiral model of SDA. The algorithm is applied to solve dynamic modeling problem of a single-link flexible manipulator system. Results of the dynamic model show the proposed algorithm and the original SDA estimate adequate model and capture good dynamic behaviour of the system. However, the proposed algorithm acquires better model for the system compared to its predecessor algorithm. |
| first_indexed | 2025-11-15T02:13:27Z |
| format | Article |
| id | ump-18513 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T02:13:27Z |
| publishDate | 2015 |
| publisher | Asian Research Publishing Network (ARPN) |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-185132018-04-18T03:37:36Z http://umpir.ump.edu.my/id/eprint/18513/ Exponential-Based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System Ahmad Nor Kasruddin, Nasir Raja Mohd Taufika, Raja Ismail Mohd Ashraf, Ahmad TK Electrical engineering. Electronics Nuclear engineering This paper presents an exponential-based spiral dynamic algorithm (SDA) as an improved version of the original SDA. A simple structure with a unique feature of a spiral model in SDA leads the algorithm achieving fast convergence speed and short computation time. However, adopting a constant radius and a constant angle into the spiral model of SDA causes the algorithm to trap into local optima solution. To overcome the problem, both radius and angle of the spiral model is adaptively varied throughout the search process. It can be done by incorporating an exponential-based radius and an exponential-based angle into the spiral model of SDA. The algorithm is applied to solve dynamic modeling problem of a single-link flexible manipulator system. Results of the dynamic model show the proposed algorithm and the original SDA estimate adequate model and capture good dynamic behaviour of the system. However, the proposed algorithm acquires better model for the system compared to its predecessor algorithm. Asian Research Publishing Network (ARPN) 2015-12-01 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/18513/1/jeas_1215_3192.pdf Ahmad Nor Kasruddin, Nasir and Raja Mohd Taufika, Raja Ismail and Mohd Ashraf, Ahmad (2015) Exponential-Based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System. ARPN Journal of Engineering and Applied Sciences, 10 (23). pp. 17450-17456. ISSN 1819-6608. (Published) http://www.arpnjournals.org/jeas/research_papers/rp_2015/jeas_1215_3192.pdf |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Ahmad Nor Kasruddin, Nasir Raja Mohd Taufika, Raja Ismail Mohd Ashraf, Ahmad Exponential-Based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System |
| title | Exponential-Based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System |
| title_full | Exponential-Based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System |
| title_fullStr | Exponential-Based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System |
| title_full_unstemmed | Exponential-Based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System |
| title_short | Exponential-Based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System |
| title_sort | exponential-based spiral dynamic algorithm for modelling of a flexible manipulator system |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/18513/ http://umpir.ump.edu.my/id/eprint/18513/ http://umpir.ump.edu.my/id/eprint/18513/1/jeas_1215_3192.pdf |