Sliding mode cooperative motion control of dual arm manipulators

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. This work was presented, in part, at the Third International Symposium on Artificial Life and Robotics, Oita, Japan, January 19–21, 1998