Hybrid sine-spiral dynamic algorithm for dynamic modelling of a flexible manipulator
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 determ...
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| Format: | Conference or Workshop Item |
| Language: | English English |
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IEEE
2019
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| Online Access: | http://umpir.ump.edu.my/id/eprint/27125/1/17.%20Hybrid%20sine-spiral%20dynamic%20algorithm%20for%20dynamic%20modelling%20of%20a%20flexible%20manipulator.pdf http://umpir.ump.edu.my/id/eprint/27125/2/17.1%20Hybrid%20sine-spiral%20dynamic%20algorithm%20for%20dynamic%20modelling%20of%20a%20flexible%20manipulator.pdf |
| _version_ | 1796993816688852992 |
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| author | Nurul Amira, Mhd Rizal Shuhairie, Mohammad Ahmad Azwan, Abdul Razak Mohd Falfazli, Mat Jusof Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad Addie Irawan, Hashim |
| author_facet | Nurul Amira, Mhd Rizal Shuhairie, Mohammad Ahmad Azwan, Abdul Razak Mohd Falfazli, Mat Jusof Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad Addie Irawan, Hashim |
| author_sort | Nurul Amira, Mhd Rizal |
| collection | UMP |
| description | 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. |
| first_indexed | 2024-03-06T12:39:08Z |
| format | Conference or Workshop Item |
| id | UMPir27125 |
| institution | Universiti Malaysia Pahang |
| language | English English |
| last_indexed | 2024-03-06T12:39:08Z |
| publishDate | 2019 |
| publisher | IEEE |
| record_format | dspace |
| spelling | UMPir271252020-09-07T08:27:51Z http://umpir.ump.edu.my/id/eprint/27125/ Hybrid sine-spiral dynamic algorithm for dynamic modelling of a flexible manipulator Nurul Amira, Mhd Rizal Shuhairie, Mohammad Ahmad Azwan, Abdul Razak Mohd Falfazli, Mat Jusof Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad Addie Irawan, Hashim TK Electrical engineering. Electronics Nuclear engineering 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. IEEE 2019 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/27125/1/17.%20Hybrid%20sine-spiral%20dynamic%20algorithm%20for%20dynamic%20modelling%20of%20a%20flexible%20manipulator.pdf pdf en http://umpir.ump.edu.my/id/eprint/27125/2/17.1%20Hybrid%20sine-spiral%20dynamic%20algorithm%20for%20dynamic%20modelling%20of%20a%20flexible%20manipulator.pdf 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 https://doi.org/10.23919/ICCAS47443.2019.8971498 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Nurul Amira, Mhd Rizal Shuhairie, Mohammad Ahmad Azwan, Abdul Razak Mohd Falfazli, Mat Jusof Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad Addie Irawan, Hashim Hybrid sine-spiral dynamic algorithm for dynamic modelling of a flexible manipulator |
| title | Hybrid sine-spiral dynamic algorithm for dynamic modelling of a flexible manipulator |
| title_full | Hybrid sine-spiral dynamic algorithm for dynamic modelling of a flexible manipulator |
| title_fullStr | Hybrid sine-spiral dynamic algorithm for dynamic modelling of a flexible manipulator |
| title_full_unstemmed | Hybrid sine-spiral dynamic algorithm for dynamic modelling of a flexible manipulator |
| title_short | Hybrid sine-spiral dynamic algorithm for dynamic modelling of a flexible manipulator |
| title_sort | hybrid sine spiral dynamic algorithm for dynamic modelling of a flexible manipulator |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/27125/1/17.%20Hybrid%20sine-spiral%20dynamic%20algorithm%20for%20dynamic%20modelling%20of%20a%20flexible%20manipulator.pdf http://umpir.ump.edu.my/id/eprint/27125/2/17.1%20Hybrid%20sine-spiral%20dynamic%20algorithm%20for%20dynamic%20modelling%20of%20a%20flexible%20manipulator.pdf |
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