Adaptive Sliding Mode Coordinated Control of Multiple Robot Arms Handling One Constrained Object

摘要

When a common object, grasped by multiple robot arms, is cooperatively manipulated to move along a constrained surface, the control task requires the simultaneous control of the motion trajectory of the grasped object on the constrained surface; the constrained force due to the contact with the surface; and the internal force exerted by the arms on the object. To accomplish such a control objective, an adaptive sliding mode control algorithm is presented by developing a new concise dynamic model of the system and exploiting its particular properties. Detailed analysis on the tracking properties of the object's position, the constrained force, and the internal force are given. The stability analysis shows that the proposed algorithm can achieve satisfactory tracking performance.