Load transportation by dual arm robot using sliding mode control

• Published in: Journal of mechanical science and technology Vol. 24; no. 5; pp. 1177 - 1184
• Main Authors: Yagiz, Nurkan, Hacioglu, Yuksel, Arslan, Yunus Ziya
• Format: Journal Article
• Language: English
• Published: Heidelberg Korean Society of Mechanical Engineers 01.05.2010; Springer Nature B.V; 대한기계학회
• Subjects: Applied sciences; Computer science; control theory; systems; Control; Control system analysis; Control theory. Systems; Dynamical Systems; Dynamics; Engineering; Exact sciences and technology; Industrial and Production Engineering; Mathematical analysis; Mechanical Engineering; Proportional integral derivative; Robotics; Robots; Sheet molding compounds; Trajectories; Vibration; 기계공학; Load transportation; Sliding mode control; Dual arm robot; Variable structure control; Sliding mode; Position control; Robot dynamics; Robotics; Chatter; Manipulator; Robust control; Tracking error; Robustness; Transport; Arm; Motion control; Differential integral proportional control; Hazard; Dynamic load

In this study, a sliding mode controlled dual arm robotic system was designed. Such multi-arm, collaborative and synchronous robots typically are employed in hazardous situations such as radioactive materials transport explosives disposal and industrial applications. In the present study, a high per...