Modeling of flexible manipulator structure using particle swarm optimization with Explorer

• Main Authors: Mohd. Yatim, Hanim, Mat Darus, Intan Z., Hadi, Muhamad Sukri
• Format: Conference or Workshop Item
• Published: 2017
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://eprints.utm.my/id/eprint/97316/; http://dx.doi.org/10.1109/ISIEA.2014.8049882

This paper presents an investigation into the development of novel Particle Swarm Optimization with Explorer and its application to system identification for a single-link flexible manipulator system. A simulation environment characterizing the dynamic behavior of the flexible manipulator system was first developed using finite difference (FD) method to acquire the input-output data of the system. In this study, system identification scheme is developed to obtain a dynamic model of the manipulator in parametric form using Particle Swarm Optimization with Explorer. The introduction of explorer solves problem of getting stuck at local minima, thus proposed a novel methodology namely as Particle Swarm Optimization with Explorer (PSOE). Its performance is assessed in comparison to a standard Particle Swarm Optimization in characterizing the flexible manipulator structure. Results demonstrate the advantages of Particle Swarm Optimization with Explorer over their standard counterpart in system identification.