Fast terminal sliding mode control for dual arm manipulators

In this paper, present the recent advances in bimanual industrial manipulators have led to an increased interest specific problems pertaining dual arm manipulation. This paper presents a control algorithm for robot that can move object working plane both translation and rotation ways. Different from other research extend algorithms single because of fixed grasp assumption, has considered frictional contact constraints guarantee grasping during moving object. Fast terminal sliding mode (FTSMC) technique is used design controller comparison traditional super-twisting controls been done. Simulations show effectiveness outperformance proposed techniques.