Position Synchronization Control of a 3DoF Dual Arm Robotic Manipulator System using Integral Sliding Mode

摘要

An integral sliding mode controller for position synchronization of dual arm robotic manipulator systems is proposed in this paper. The proposed controller is capable of synchronizing the movement of both the arms following the same desired trajectory. The integral sliding mode eliminates the reaching phase and guarantees insensitiveness to lumped system uncertainties during the entire system response. Further, to reduce chattering, the switching element is smoothened by using a low pass filter. The asymptotic stability of the controlled system is proved via Lyapunov stability analysis. Through simulation study of a 3doF dual arm robot for tracking a desired trajectory, the feasibility and validity of this control strategy are verified.