General underactuated cooperating manipulators and their control by neural network


Yesiloglu S., Temeltas H.

ADVANCES IN NEURAL NETWORKS - ISNN 2005, PT 3, PROCEEDINGS, cilt.3498, ss.210-215, 2005 (SCI İndekslerine Giren Dergi) identifier

  • Cilt numarası: 3498
  • Basım Tarihi: 2005
  • Dergi Adı: ADVANCES IN NEURAL NETWORKS - ISNN 2005, PT 3, PROCEEDINGS
  • Sayfa Sayıları: ss.210-215

Özet

Underactuation may arise when a manipulator includes at least one passive joint which is either a free joint where torque propagating along the axis of rotation is only due to friction, or a flexible joint which has passive elements introducing stiffness and damping. In this regard, free flying platform can be considered as linked to a fixed base by six DOF free joints with no friction. Dynamics of underactuated cooperating manipulators become a bigger challenge when underactuation is encountered by the combination of free, flexible and active joints based on a free-flying platform in no-gravity setting. We call this class of systems as "general underactuated systems". This paper demonstrates the theoretical background of an order of N algorithm for the dynamical modeling and neural network based control of general underactuated manipulators cooperating to perform a common task on a free-flying space platform.