Abstract
A new approach to the robust motion and internal force control of two manipulators grasping a common object is presented. It incorporates a chatterless sliding mode control law with an internal force control scheme in which direct force feedback signals are not required. The new control law retains the simplicity and robustness of sliding mode controllers whilst the chattering problem associated with this type of controller is completely eliminated. It can be implemented without the use of force sensors thus significantly reducing the hardware costs. Simulations demonstrate the effectiveness of the new approach.
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