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Sliding mode cooperative motion control of dual arm manipulators

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Abstract

This paper presents a method for realizing cooperative control of dual-arm manipulators (RM-10A by Remotec Inc.) handling the same object in the presence of dynamic parameter uncertainties of both robots and object. When multiple robots handle the same object, both the position and the internal forces between the robots and the object should be controlled. In this paper, a sliding mode controller is derived for trajectory tracking of object position and internal forces. To show the effectiveness of the proposed controller, numerical simulations are performed for 12 axis dual-arm manipulators.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Howard R. Hughes College of Engineering, University of Nevada, Las Vegas, 89154, Las Vegas, NV, USA

    Woosoon Yim, Manoharan Selvarajan & William R. Wells

Authors
  1. Woosoon Yim
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  2. Manoharan Selvarajan
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  3. William R. Wells
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Cite this article

Yim, W., Selvarajan, M. & Wells, W.R. Sliding mode cooperative motion control of dual arm manipulators. Artif Life Robotics 3, 166–169 (1999). https://doi.org/10.1007/BF02481134

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  • DOI: https://doi.org/10.1007/BF02481134

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