Exponential-Based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System

This paper presents an exponential-based spiral dynamic algorithm (SDA) as an improved version of the original SDA. A simple structure with a unique feature of a spiral model in SDA leads the algorithm achieving fast convergence speed and short computation time. However, adopting a constant radius a...

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Main Authors:	Ahmad Nor Kasruddin, Nasir, Raja Mohd Taufika, Raja Ismail, Mohd Ashraf, Ahmad
Format:	Article
Language:	English
Published:	Asian Research Publishing Network (ARPN) 2015
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/18513/ http://umpir.ump.edu.my/id/eprint/18513/ http://umpir.ump.edu.my/id/eprint/18513/1/jeas_1215_3192.pdf

id	ump-18513
recordtype	eprints
spelling	ump-185132018-04-18T03:37:36Z http://umpir.ump.edu.my/id/eprint/18513/ Exponential-Based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System Ahmad Nor Kasruddin, Nasir Raja Mohd Taufika, Raja Ismail Mohd Ashraf, Ahmad TK Electrical engineering. Electronics Nuclear engineering This paper presents an exponential-based spiral dynamic algorithm (SDA) as an improved version of the original SDA. A simple structure with a unique feature of a spiral model in SDA leads the algorithm achieving fast convergence speed and short computation time. However, adopting a constant radius and a constant angle into the spiral model of SDA causes the algorithm to trap into local optima solution. To overcome the problem, both radius and angle of the spiral model is adaptively varied throughout the search process. It can be done by incorporating an exponential-based radius and an exponential-based angle into the spiral model of SDA. The algorithm is applied to solve dynamic modeling problem of a single-link flexible manipulator system. Results of the dynamic model show the proposed algorithm and the original SDA estimate adequate model and capture good dynamic behaviour of the system. However, the proposed algorithm acquires better model for the system compared to its predecessor algorithm. Asian Research Publishing Network (ARPN) 2015-12-01 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/18513/1/jeas_1215_3192.pdf Ahmad Nor Kasruddin, Nasir and Raja Mohd Taufika, Raja Ismail and Mohd Ashraf, Ahmad (2015) Exponential-Based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System. ARPN Journal of Engineering and Applied Sciences, 10 (23). pp. 17450-17456. ISSN 1819-6608 http://www.arpnjournals.org/jeas/research_papers/rp_2015/jeas_1215_3192.pdf
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Ahmad Nor Kasruddin, Nasir Raja Mohd Taufika, Raja Ismail Mohd Ashraf, Ahmad Exponential-Based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System
description	This paper presents an exponential-based spiral dynamic algorithm (SDA) as an improved version of the original SDA. A simple structure with a unique feature of a spiral model in SDA leads the algorithm achieving fast convergence speed and short computation time. However, adopting a constant radius and a constant angle into the spiral model of SDA causes the algorithm to trap into local optima solution. To overcome the problem, both radius and angle of the spiral model is adaptively varied throughout the search process. It can be done by incorporating an exponential-based radius and an exponential-based angle into the spiral model of SDA. The algorithm is applied to solve dynamic modeling problem of a single-link flexible manipulator system. Results of the dynamic model show the proposed algorithm and the original SDA estimate adequate model and capture good dynamic behaviour of the system. However, the proposed algorithm acquires better model for the system compared to its predecessor algorithm.
format	Article
author	Ahmad Nor Kasruddin, Nasir Raja Mohd Taufika, Raja Ismail Mohd Ashraf, Ahmad
author_facet	Ahmad Nor Kasruddin, Nasir Raja Mohd Taufika, Raja Ismail Mohd Ashraf, Ahmad
author_sort	Ahmad Nor Kasruddin, Nasir
title	Exponential-Based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System
title_short	Exponential-Based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System
title_full	Exponential-Based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System
title_fullStr	Exponential-Based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System
title_full_unstemmed	Exponential-Based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System
title_sort	exponential-based spiral dynamic algorithm for modelling of a flexible manipulator system
publisher	Asian Research Publishing Network (ARPN)
publishDate	2015
url	http://umpir.ump.edu.my/id/eprint/18513/ http://umpir.ump.edu.my/id/eprint/18513/ http://umpir.ump.edu.my/id/eprint/18513/1/jeas_1215_3192.pdf
first_indexed	2023-09-18T22:26:16Z
last_indexed	2023-09-18T22:26:16Z
_version_	1777415986664701952

Exponential-Based Spiral Dynamic Algorithm for Modelling of a Flexible Manipulator System

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