Dynamic modeling of flexible-link manipulators using neural networks with application to the SSRMS

This paper presents dynamic modeling of flexible link manipulators using artificial neural networks. A state-space representation is considered for a neural identifier. The recurrent network configuration is obtained by a combination of feedforward network architectures with dynamical elements in the form of stable filters. To guarantee the boundedness of the states, joint PD control is introduced in the system. The method can be considered both as an online identifier that can be used as a basis for designing neural network controllers as well as an off-line learning scheme to compute deflections due to link flexibility for evaluating forward dynamics. The performance of the proposed neural identifier is evaluated by identifying the dynamics of different flexible-link manipulators. To demonstrate the effectiveness of the algorithm, simulation results for a single-link manipulator, a two-link planar manipulator and the Space Station Remote Manipulator System (SSRMS) are presented