Modelling of a flexible single-link manipulator using metaheuristic algorithms

This study presents development of approaches with cuckoo search algorithm (CS) and differential evolutionary algorithm (DE) for modelling of flexible single-link manipulator system (FSLMS). Details of simulation study, model selection, optimization and result analyses are given in this study. A mathematical model of a (FSLMS) has been developed and modelled as a pinned-free, an Euler-Bernoulli flexible beam using finite element method (FEM) based on Lagrangian approach analysis. A bang-bang input torque was applied and the dynamic response of the system was investigated. Next, a suitable model structure is selected and optimized using intelligent optimization techniques (CS) and (DE). Mean squared error (MSE), One Step Ahead (OSA) prediction, correlation tests have been performed for validation and verification of the obtained model in characterizing the manipulator system. A comparative assessment of the two models in characterizing the manipulator system is presented in time and frequency domains. It has been demonstrated that the CS and DE modelling techniques have performed well in approximating the system response and the result obtained through CS and DE are nearly same in modelling a single-link flexible manipulator system.