General Underactuated Cooperating Manipulators and Their Control by Neural Network

  • S. Murat Yeşiloğlu
  • Hakan Temeltaş
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3498)


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.


Passive Element Neural Network Controller Passive Joint Position Tracking Error Joint Acceleration 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • S. Murat Yeşiloğlu
    • 1
  • Hakan Temeltaş
    • 1
  1. 1.Department of Electrical EngineeringIstanbul Technical UniversityIstanbulTurkey

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