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Deform flexible beams by two manipulators through neural network learning

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2 Author(s)
Chen, M.Z. ; Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA ; Zheng, Y.F.

In a previous paper (1993), the authors proposed an optimal trajectory for two manipulators to bend a flexible beam. The criterion was to minimize the interaction forces and moments between the beam and the end-effectors. It turned out that computation for specifying such a trajectory was complicated since an elliptic integral was involved in the computation. In this study, a circular arc is used as the motion trajectory of the two end-effectors. Since a circular arc is easy to specify, the computation time is greatly reduced. However, the interaction forces and moments become non-minimal. To overcome this problem, a neural network mechanism is proposed to adjust the trajectory in real-time such that the interaction forces and moments are reduced. The residual forces and moments are further minimized by a force feedback control mechanism. Simulation results are presented to verify the proposed method

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994