Fast terminal sliding mode control for dual arm manipulators

摘要

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