Open Access Open Access  Restricted Access Subscription or Fee Access

Modelling of a Flexible Single-Link Manipulator Using Metaheuristic Algorithms


(*) Corresponding author


Authors' affiliations


DOI: https://doi.org/10.15866/ireme.v8i6.3012

Abstract


This study presents development of approaches with cuckoo search algorithm (CS) and differential evolutionary algorithm (DE) for modelling of flexible single-link manipulator system (FSLMS). Details of simulation study, model selection, optimization and result analyses are given in this study. A mathematical model of a (FSLMS) has been developed and modelled as a pinned-free, an Euler-Bernoulli flexible beam using finite element method (FEM) based on Lagrangian approach analysis. A bang-bang input torque was applied and the dynamic response of the system was investigated. Next, a suitable model structure is selected and optimized using intelligent optimization techniques (CS) and (DE). Mean squared error (MSE), One Step Ahead (OSA) prediction, correlation tests have been performed for validation and verification of the obtained model in characterizing the manipulator system. A comparative assessment of the two models in characterizing the manipulator system is presented in time and frequency domains. It has been demonstrated that the CS and DE modelling techniques have performed well in approximating the system response and the result obtained through CS and DE are nearly same in modelling a single-link flexible manipulator system.
Copyright © 2014 Praise Worthy Prize - All rights reserved.

Keywords


Dynamic Modelling; Cuckoo Search Algorithm; Differential Evolutionary Algorithm; Flexible Single-link Manipulator; System Identification; Finite Element Method

Full Text:

PDF


References


S. K. Dwivedy, P. Eberhard, Dynamic analysis of a flexible manipulator, a literature review, Mech. Mach. Theory., vol. 41, pp. 749-777, 2006.
http://dx.doi.org/10.1016/j.mechmachtheory.2006.01.014

H. Supriyono, Novel Bacterial Foraging Optimisation Algorithms with Application to Modelling and Control of Flexible Manipulator Systems, PhD thesis, Dept. Automatic Control and Systems Eng., Sheffield Univ., 2012.

M. H. Shaheed, M. O. Tokhi, Adaptive closed-loop control of a single-link flexible manipulator, Journal of Vibration and Control 19(13) 2068–2080. 2013
http://dx.doi.org/10.1177/1077546312453066

L. Ljung, System identification: theory for the user (2nd edition, prentice hall, 1999).
http://dx.doi.org/10.1109/mra.2012.2192817

I. Z. Mat Darus, A. A. M. Al-Khafaji, Nonparametric Modelling of a Rectangular Flexible Plate Structure, International Journal of Engineering Application of Artificial Intelligence, 25, pp. 94-106. 2012.
http://dx.doi.org/10.1016/j.engappai.2011.09.009

B.A. Md Zain, M.O. Tokhi, I. A. Latiff, Dynamic modelling of a single link flexible manipulator using particle swarm optimisation, The Second International Conference on Control, Instrumentation and Mechatronic Engineering (CIM09), Malacca, Malaysia, June 2 -3, 2009.

M.H. Shaheed, M.O. Tokhi, Dynamic modelling of a single-link flexible manipulator: parametric and non-parametric approaches, Robotica, 20, pp. 93 –109, 2002.
http://dx.doi.org/10.1017/s0263574701003678

M. H. Shaheed, M. O. Tokhi, A. J. Chipperfield, A. K. M Azad, Modelling and open-loop control of a single-link flexible manipulator with genetic algorithms, Journal of Low Frequency Noise, Vibration and Active Control, 20(1), pp. 39 – 55.
http://dx.doi.org/10.1260/0263092011492975

Yatim, H.M., Mat Darus, I.Z., Intelligent parametric identification of flexible manipulator system, (2014) International Review of Mechanical Engineering (IREME), 8 (1), pp. 11-21.

B.A. Md Zain, M.O. Tokhi, and S. Md Salleh, Dynamic modelling of a single link flexible manipulator using parametric techniques with genetic algorithms, Proceedings of Third UKSim European Symposium on Computer Modelling and Simulation, Athens, Greece, November 25 – 27, 2009, pp. 373 – 378. 2009.
http://dx.doi.org/10.1109/ems.2009.85

A. A. M. Al-Khafaji, I. Z. M. Darus, Evolutionary Algorithm for identification of a Flexible Single-Link System, Proceedings of the 14th International Conference on Robotics, Control and, Manufacturing Technology (ROCOM '14), Kuala Lumpur, Malaysia, April 23-25, 2014.

A. A. M. Al-Khafaji, I. Z. M. Darus, Cuckoo Search for Modelling of a Flexible Single-Link Manipulator, Proceedings of the 14th International Conference on Robotics, Control and, Manufacturing Technology (ROCOM '14), Kuala Lumpur, Malaysia, April 23-25, 2014.

H. A. Talebi, R.V. Patel, H.Asmer, Dynamic modelling of flexible-link manipulators using neural networks with application to the SSRMS, Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, B.C., Canada October 1998, pp. 673 – 678 (1998).
http://dx.doi.org/10.1109/iros.1998.724696

H. Supriyono, M.O. Tokhi, B.A. Md Zain, Modelling of flexible manipulator systems using bacterial foraging algorithms, Proceedings of CLAWAR 2011: The 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2011), Paris, France, 6-8 September 2011, pp. 157-165. 2011
http://dx.doi.org/10.1142/9789814374286_0018

M. O. Tokhi, A. K. M. Azad, Flexible Robot Manipulators Modelling, simulation and control, (the Institution of Engineering and Technology, London, United Kingdom, 2008).
http://dx.doi.org/10.1049/pbce068e

M. O. Tokhi, Z. Mohamed, H. M. Shaheed, Dynamic characterisation of a flexible manipulator system. Robotica / Volume 19 / Issue 05 / September 2001, pp 571 - 580.
http://dx.doi.org/10.1017/s0263574700003209

M.O. Tokhi, Z. Mohamed, A. K. M. Azad, Finite difference and finite element approaches to dynamic modelling of a flexible manipulator, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 1997, 211: 145.
http://dx.doi.org/10.1243/0959651971539966

D. Koulocheris, V. Dertimanis, H. Vrazopoulos, Evolutionary parametric identification of dynamic systems, Forschung im Ingenieurwesen , Springer Verlag, 68, pp. 173-181.
http://dx.doi.org/10.1007/s10010-003-0117-4

Xin-She Yang, Nature-Inspired Metaheuristic Algorithms. (Luniver Press, 2008).

Xin-She Yang, S. Deb. Cuckoo search via levy flights. In Nature Biologically Inspired Computing, World Congress on, pages 210–214, 2009
http://dx.doi.org/10.1109/nabic.2009.5393690

Z. Michalewicz, and M. Shoenauer, Evolutionary Algorithms for Constrained Parameter Optimization Problems, Evolutionary Computation 4(1):1-32, 1996.
http://dx.doi.org/10.1162/evco.1996.4.1.1

Godwin Raja Ebenezer, N., Saravanan, R., Ramabalan, S., Natarajan, R., Evolutionary optimum design for a task specified 6-link planar robot, (2014) International Review of Mechanical Engineering (IREME), 8 (1), pp. 36-51.

L. Ching-Hung, K. Che-Ting, C. Hao-Han, Performance enhancement of the differential evolution algorithm using local search and a self-adaptive scaling factor, International Journal of Innovative, Computing, Information and Control, Volume 8, Number 4, April 2012.


Refbacks

  • There are currently no refbacks.


Please send any question about this web site to info@praiseworthyprize.com
Copyright © 2005-2024 Praise Worthy Prize