Firefly algorithm for modeling of flexible manipulator system
Flexible manipulator is a general-purpose machine used for industrial automation in order to increase productivity, flexibility and product quality that has been widely applied to replace their rigid manipulator counterparts. Flexible manipulator is a distributed parameter system and has infinitely...
Saved in:
Main Authors: | , , , , |
---|---|
Format: | Book Section |
Published: |
Springer Science and Business Media Deutschland GmbH
2022
|
Subjects: | |
Online Access: | http://eprints.utm.my/id/eprint/100488/ http://dx.doi.org/10.1007/978-981-33-4597-3_23 |
Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
id |
my.utm.100488 |
---|---|
record_format |
eprints |
spelling |
my.utm.1004882023-04-14T02:13:29Z http://eprints.utm.my/id/eprint/100488/ Firefly algorithm for modeling of flexible manipulator system Baseri, Hazeem Hakeemi Mohd. Yatim, Hanim Hadi, Muhamad Sukri Ab. Talib, Mat Hussin Mat Darus, Intan Zaurah TJ Mechanical engineering and machinery Flexible manipulator is a general-purpose machine used for industrial automation in order to increase productivity, flexibility and product quality that has been widely applied to replace their rigid manipulator counterparts. Flexible manipulator is a distributed parameter system and has infinitely many degrees of freedom. However, flexible manipulator will develop unwanted vibration during manoeuvre that may reduce the efficiency of the flexible manipulator system for precise positioning requirements. Thus, the dynamics of this system are highly non-linear and complex. Therefore, an accurate model and efficient control system must be developed in order to sustain the advantages of the flexible manipulator system. This paper highlights the flexible manipulator modelling using system identification (SI) method employing Firefly Algorithm (FA). Initially, flexible manipulator test rig is developed for input output data collection. Behaviour of system response including hub angle and end-point acceleration are acquired and analyse. Later, data collected is fed into system identification method optimized by Firefly Algorithm via linear auto regressive with exogenous (ARX) model structure. Validations of the algorithm is assessed on basis of minimizing the mean-squared error (MSE) and correlation tests. It is demonstrated that FA modeling is superior that conventional algorithm known as Least Square (LS) Algorithm with lowest MSE obtained and achieved 95% confidence interval in correlation tests for both hub angle and end-point acceleration identification. Springer Science and Business Media Deutschland GmbH 2022 Book Section PeerReviewed Baseri, Hazeem Hakeemi and Mohd. Yatim, Hanim and Hadi, Muhamad Sukri and Ab. Talib, Mat Hussin and Mat Darus, Intan Zaurah (2022) Firefly algorithm for modeling of flexible manipulator system. In: Recent Trends in Mechatronics Towards Industry 4.0 Selected Articles from iM3F 2020, Malaysia. Lecture Notes in Electrical Engineering, 730 (NA). Springer Science and Business Media Deutschland GmbH, Singapore, pp. 235-251. ISBN 978-981334596-6 http://dx.doi.org/10.1007/978-981-33-4597-3_23 DOI:10.1007/978-981-33-4597-3_23 |
institution |
Universiti Teknologi Malaysia |
building |
UTM Library |
collection |
Institutional Repository |
continent |
Asia |
country |
Malaysia |
content_provider |
Universiti Teknologi Malaysia |
content_source |
UTM Institutional Repository |
url_provider |
http://eprints.utm.my/ |
topic |
TJ Mechanical engineering and machinery |
spellingShingle |
TJ Mechanical engineering and machinery Baseri, Hazeem Hakeemi Mohd. Yatim, Hanim Hadi, Muhamad Sukri Ab. Talib, Mat Hussin Mat Darus, Intan Zaurah Firefly algorithm for modeling of flexible manipulator system |
description |
Flexible manipulator is a general-purpose machine used for industrial automation in order to increase productivity, flexibility and product quality that has been widely applied to replace their rigid manipulator counterparts. Flexible manipulator is a distributed parameter system and has infinitely many degrees of freedom. However, flexible manipulator will develop unwanted vibration during manoeuvre that may reduce the efficiency of the flexible manipulator system for precise positioning requirements. Thus, the dynamics of this system are highly non-linear and complex. Therefore, an accurate model and efficient control system must be developed in order to sustain the advantages of the flexible manipulator system. This paper highlights the flexible manipulator modelling using system identification (SI) method employing Firefly Algorithm (FA). Initially, flexible manipulator test rig is developed for input output data collection. Behaviour of system response including hub angle and end-point acceleration are acquired and analyse. Later, data collected is fed into system identification method optimized by Firefly Algorithm via linear auto regressive with exogenous (ARX) model structure. Validations of the algorithm is assessed on basis of minimizing the mean-squared error (MSE) and correlation tests. It is demonstrated that FA modeling is superior that conventional algorithm known as Least Square (LS) Algorithm with lowest MSE obtained and achieved 95% confidence interval in correlation tests for both hub angle and end-point acceleration identification. |
format |
Book Section |
author |
Baseri, Hazeem Hakeemi Mohd. Yatim, Hanim Hadi, Muhamad Sukri Ab. Talib, Mat Hussin Mat Darus, Intan Zaurah |
author_facet |
Baseri, Hazeem Hakeemi Mohd. Yatim, Hanim Hadi, Muhamad Sukri Ab. Talib, Mat Hussin Mat Darus, Intan Zaurah |
author_sort |
Baseri, Hazeem Hakeemi |
title |
Firefly algorithm for modeling of flexible manipulator system |
title_short |
Firefly algorithm for modeling of flexible manipulator system |
title_full |
Firefly algorithm for modeling of flexible manipulator system |
title_fullStr |
Firefly algorithm for modeling of flexible manipulator system |
title_full_unstemmed |
Firefly algorithm for modeling of flexible manipulator system |
title_sort |
firefly algorithm for modeling of flexible manipulator system |
publisher |
Springer Science and Business Media Deutschland GmbH |
publishDate |
2022 |
url |
http://eprints.utm.my/id/eprint/100488/ http://dx.doi.org/10.1007/978-981-33-4597-3_23 |
_version_ |
1764222573925629952 |
score |
13.160551 |