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Flexible Underwater Manipulator Modelling Using Intelligent Method

Mohammed J. Mohammed, Basma A. Abbas, and Sunddus A. Al-Azawiey
Department of Electromechanical Engineering, University of Technology, Baghdad, Iraq

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

Cite: Mohammed J. Mohammed, Basma A. Abbas, and Sunddus A. Al-Azawiey, "Flexible Underwater Manipulator Modelling Using Intelligent Method" International Journal of Mechanical Engineering and Robotics Research, Vol. 8, No. 6, pp. 860-866, November 2019. DOI: 10.18178/ijmerr.8.6.860-866