Simultaneous Trajectory Manipulation of a Dual-arm Robot Using Sliding Mode Control
نویسندگان
چکیده
Dual-arm robotic system for load transportation in hazardous environments is considered in this study. First, physical model of the robot arms with the load is presented and related equations of motion are obtained. Friction forces arising on the contact points between the load and robot arm tips are also taken into account. Then, robust non-chattering sliding mode control is used in order to obtain the joint torques, which makes the robot track the trajectory and move the load to its new location. Finally, numerical results are presented. These results verify that this type of robot systems with proposed sliding mode control method can be used in hazardous applications safely.
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