Position - Force Control of Cooperative redundant arm robot for displacement of rigid bodies using sliding mode technique

in this paper, the problem of robust control for cooperative arm robots moving rigid body object in the presence of uncertainties and external disturbances is studied. Using cooperative arms in displacement of heavy and sensitive objects has always been considered by researchers and applying control methods with high reliability have a particular importance. Also, the degrees of freedom of robot’s redundancy relative to task space dimension has an important role to enlarge the robot s task space. But becoming nonsquare of Jacobian matrix makes inverse kinematics problem solving difficult. In this paper, inverse kinematics problem is solved by using neural networks and sliding mode controller design are discussed in the joint space. Simulation results of two spatial redundant arm with four degrees of freedom for displacement of rigid body object in threedimensional task space compared with existing methods in the literature, that show the proposed method has an appropriate performance.

کلیدواژه ها:

Multi-robot robots ، Kinematic Problem ، Neural Networks ، Uncertainty ، Disturbance ، Sliding-mode Control ، Robust Control