Robust Constrained Motion Control of Multi-arm Robots Holding a Common Object

  • B. Yaot, W. B. Gaot, S. P. Chant
  • Published 2000


In this paper, a variable structure control (VSC) method is developed for robust constrained motion control of multi-am robots holding a common object in the presence of parametric uncertainties and external disturbances. By introducing a set of generalized coordinates, the closed-chain dynamic equation of robotic system can be decomposed into position and… (More)

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