Amir Tavasoli

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– In this paper, dynamic modeling and neural network control of two cooperating 6 DOF elbow manipulators handling a rigid object are studied when actuator dynamics is considered as an important part of the system dynamics. First, a kinematic model of the system and the relations between various forces/torques acting on the object by using different(More)
In this paper, the problem of dynamic modeling and neural network control of two 6 DOF elbow manipulators handling a rigid object is studied when actuator dynamics is also considered in the system dynamics. First, kinematics and dynamics of the mechanical subsystem and the relation between different forces acting on the object using different Jacobians are(More)
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