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When a common object, grasped by multiple robot arms, is cooperatively manipulated to move along a constrained surface, the control task requires the simultaneous control of the motion trajectory of the grasped object on the constrained surface; the constrained force due to the contact with the surface; and the internal force exerted by the arms on the object. To accomplish such a control objective,...
A general sliding mode controller is presented for trajectory tracking of nonlinear robot manipulator systems which guarantees occurrence of sliding mode on a specified general sliding surface. The controller is, in a simple manner, related to the manipulator and load parameters, which greatly reduces the complexity of design. In the sliding mode, desired performance can be obtained by selecting a...
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