EXPONENTIAL REACHING LAW SLIDING MODE CONTROL FOR DUAL ARM ROBOTS

A dual-arm robot, with bi-manual manipulation, can operate in a dexterous human-like manner. However, because of nonlinear, imprecise modeling and interactive properties, the control of dual arm robot becomes sophisticated with some limitations. This paper presents the exponential reaching law sliding mode control for a dual arm robot to move an object, not only translation, but also object rotation in a working plane. Using sliding mode control, the problem of imprecise modeling, parametric uncertainties, system robustness can be solved. Furthermore, exponential reaching law is able to deal with chattering reduction and tracking performance problem. The simulations have shown the effectiveness of the proposed control strategy. In addition, the comparisons to traditional sliding mode control strategy verify the performance advantage of sliding mode control with exponential reaching law.