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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)

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.

Keywords

Passive Element Neural Network Controller Passive Joint Position Tracking Error Joint Acceleration 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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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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