Neural Network based Dynamic Object Manipulation by a Flexible Link Robot

The aim of this research is development of an onlineapproach for Dynamic Object Manipulation (DOM) taskby a flexible link manipulator. The problem of DOM isbeing formulated using optimal control tool. Then theobtained optimal trajectories are taught to a neuralnetwork which can be exploited for online trajectorygeneration. To improve the system robustness, a PIDcontroller is added to the devised optimal control basedneural network .The obtained simulation results revealthe effectiveness of the suggested method for onlineobject manipulation purposes using flexible linkmanipulators.

کلیدواژه ها:

Object Manipulation ، Flexible Link Robot ، Dynamics Modeling ، Optimal Planning.