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Hybrid sine-spiral dynamic algorithm for dynamic modelling of a flexible manipulator

Nurul Amira, Mhd Rizal and Shuhairie, Mohammad and Ahmad Azwan, Abdul Razak and Mohd Falfazli, Mat Jusof and Ahmad Nor Kasruddin, Nasir and Mohd Ashraf, Ahmad and Addie Irawan, Hashim (2019) Hybrid sine-spiral dynamic algorithm for dynamic modelling of a flexible manipulator. In: IEEE 19th International Conference on Control, Automation and Systems (ICCAS 2019), 15-18 October 2019 , Jeju, Korea (South). pp. 1-6.. ISBN 978-89-93215-17-5

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Abstract

This paper presents a newly developed algorithm formulated based on a synergy between a mathematical sine equation and a spiral equation. The sine formula is taken from Sine-Cosine Algorithm (SCA) while the spiral equation is adopted from Spiral Dynamic Algorithm (SDA). The synergy combines a deterministic approach from SDA and a random approach from SCA. In the hybrid strategy, all agents update their position either via sine based or spiral based position update equation. The proposed hybrid algorithm is tested in comparison to SDA and SCA on various benchmark functions. A convergence plot and accuracy achievement are recorded and compared. In term of a real world application, the algorithm is applied to optimize a parametric model of an end point acceleration of a flexible manipulator robot. Result of the benchmark functions test shows that the proposed algorithm significantly improves the accuracy of both SCA and SDA. Result of the modelling shows that the SCA, SDA and the proposed algorithm have successfully modelled the end point acceleration.

Item Type: Conference or Workshop Item (Lecture)
Uncontrolled Keywords: Hybrid Algorithm; Sine; Spiral Dynamic Algorithm; Flexible Manipulator.
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Institute of Postgraduate Studies
Depositing User: Pn. Hazlinda Abd Rahman
Date Deposited: 25 Mar 2020 02:52
Last Modified: 07 Sep 2020 08:27
URI: http://umpir.ump.edu.my/id/eprint/27125
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