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General Information

  • ISSN: 2278-0149 (Online)
  • Abbreviated Title:  Int. J. Mech. Eng. Robot. Res.  
  • Editor-in-Chief: ​Prof Richard (Chunhui) Yang, Western Sydney University, Australia
  • Associate Editor: Prof. B.V. Appa Rao, Andhra University; Prof. Ian R. McAndrew, Capitol Technology University, USA
  • Managing Editor: Murali Krishna. B
  • DOI: 10.18178/ijmerr
  • Abstracting/Indexing: Scopus (since 2016), CNKI, Google Scholar, Crossref, etc.
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International Journal of Mechanical Engineering and Robotics Research
E-mail: ijmerr@vip.163.com

Flexible Underwater Manipulator Modelling Using Intelligent Method

Abstract— This research aims to study the dynamic modelling of experimental manipulator rig underwater condition. The experimental manipulator has been used as a single link pipe derived by motor to monitor the pipe angles under disturbance water. After studying the output system previously for manipulator hub-angle and vibration, Flower pollination method (FPM) employed to predict and model the dynamic behavior as a transfer function after collecting the motor torque as an input data and hub-angle only due to little affection of the vibration underwater compared with the hub-angle. However, many types of testing methods have been implemented to validate of proposed method; which are stability, correlation tests and Mean square error (MSE) methods. As a result, FPM has been performed as a good prediction to model the system as a transfer function based on number of model order. Whereas, the best model order has been noticed are 3rd model order for FPM that recorded lowest MSE of 1.23021×10-4 and 1.72250×10-4 for modelling and validating respectively.

Index Terms— manipulator system; parametric system identification; modelling algorithms; flexible and rigid manipulators; transfer function