Optimal Control of the Space-Craft Based Manipulators with Neural Networks
冗余度卫星搭载机械臂神经网络优化控制

In this paper, the multi layer forward neural network with flexible sigmoid function was used in controlling the spacecraft based redundant manipulators. The optimal control scheme that can guaranty to minimize the disturbance of the spacecraft by manipulators is proposed. In the scheme, the forward kinematic equations of the system were needed, neural network simulates the inverse kinematic equations which decouple the motion between the manipulators and the spacecraft base. The problem of minimizing the kinetic energy of the system was also considered. A four body planar modal was used to simulate the system, the results verified that the method is successful.