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...

Full description

Bibliographic Details
Main Authors:	Md. Zain, B. A., Tokhi, M. Osman, Toha, Siti Fauziah
Format:	Conference or Workshop Item
Language:	English English
Published:	2009
Subjects:	T Technology (General) TJ212 Control engineering
Online Access:	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

id	iium-18861
recordtype	eprints
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 Conference or Workshop Item 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
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	T Technology (General) TJ212 Control engineering
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
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.
format	Conference or Workshop Item
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.
title	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_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_sort	dynamic modelling of a single link flexible manipulator in vertical motion using swarm and genetic optimisation
publishDate	2009
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
first_indexed	2023-09-18T20:28:06Z
last_indexed	2023-09-18T20:28:06Z
_version_	1777408552250376192

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

Similar Items