Abstract
In some applications, graspless manipulation of objects can ease performing the desired task. Due to this benefit as well as the theoretical challenges, this difficult problem has been addressed by some researchers. However, just for the first time, achievement of Dynamic Object Manipulation (DOM) task using a Rotating Single-Link Flexible Manipulator (RSLFM) was taken into account in [15]. Yet, the DOM was solved without considering the actuator limitations. In this research, taking into account actuators capacity, the DOM has been solved using Pontryagin's Minimum Principle (PMP). Next a general framework based on compounded indirect and direct methods is presented to find optimum value of various parameters of a flexible link manipulator system. To prove the merits of the suggested method, some computer simulations are provided. The simulation results achieved, reveal the usefulness of the presented scheme for finding the best parameters of flexible link manipulators for DOM purposes.
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