  The primary purpose of this article is to accomplish safe grasping task by
means of dual one-link flexible manipulators. In order to design a
force-sensor-less force control, the direct force control problem is reduced to
common motion control problem, in a way that by satisfying new control
objectives the grasping task is established. Afterwards, for the first time in
the field of dual one-link flexible manipulators, intelligent control methods
are combined with robust control approaches in an effort to; i) accomplish
motion control objectives, ii) handle uncertainties in the system, and iii)
consider unknown, mixed input constraints, resulting in NABFC (Neuro-Adaptive
Boundary Force Control). Moreover, to deal with unknown model uncertainties as
well as unknown input saturation and dead zones, Radial Basic Function
Neural-Networks (RBFNNs) are used. In the same way, adaptive control is
utilized to estimate unknown parameters. By exploiting Lyapunov's direct
method, proper Lyapunov functional and Energy multiplier method are defined to
express well-known yet strong stability procedure, which compensates a complex
stability procedure proposed in the previous works. In the presence of the
designed controller, the presented stability procedure resulted in a uniform
ultimate boundedness (UUB) stability for the system. Finally, for comparison
aim between the designed controller with other controllers, numerical analysis
is used to demonstrate both the excellent performance of the proposed
controller and the correctness of the stability analysis outcomes.
