Abstract
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.
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© 2005 Springer-Verlag Berlin Heidelberg
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Yeşiloğlu, S.M., Temeltaş, H. (2005). General Underactuated Cooperating Manipulators and Their Control by Neural Network. In: Wang, J., Liao, XF., Yi, Z. (eds) Advances in Neural Networks – ISNN 2005. ISNN 2005. Lecture Notes in Computer Science, vol 3498. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11427469_33
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DOI: https://doi.org/10.1007/11427469_33
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-25914-5
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