SIMULTANEOUS TRAJECTORY MANIPULATION OF A DUAL-ARM ROBOT USING SLIDING MODE CONTROL | ||||
| International Conference on Aerospace Sciences and Aviation Technology | ||||
| Article 99, Volume 12, ASAT Conference, 29-31 May 2007, May 2007, Page 1-12 PDF (177.88 K) | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/asat.2007.24107 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
| Nurkan Yagiz; Yuksel Hacioglu; Yunus Ziya Arslan | ||||
| Department of Mechanical Engineering, Faculty of Engineering, Istanbul University, 34320 Avcilar, Istanbul, Turkey. | ||||
| Abstract | ||||
| Dual-arm robotic system for load transportation in hazardous environments is considered in this study. First, physical model of the robot arms with the load is presented and related equations of motion are obtained. Friction forces arising on the contact points between the load and robot arm tips are also taken into account. Then, robust non-chattering sliding mode control is used in order to obtain the joint torques, which makes the robot track the trajectory and move the load to its new location. Finally, numerical results are presented. These results verify that this type of robot systems with proposed sliding mode control method can be used in hazardous applications safely. | ||||
| Keywords | ||||
| Sliding Mode Control; Dual arm robot; Trajectory Manipulation; Load transportation; Hazardous Environments | ||||
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