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.
| Original language | English |
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| Pages (from-to) | 210-215 |
| Number of pages | 6 |
| Journal | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
| Volume | 3498 |
| Issue number | III |
| Publication status | Published - 2005 |
| Event | Second International Symposium on Neural Networks: Advances in Neural Networks - ISNN 2005 - Chongqing, China Duration: 30 May 2005 → 1 Jun 2005 |