Robust Coordinated Control of Two Manipulator Arms in the Presence of Environmental Constraints

A variable structure control (VSC) method is developed for robust motion, internal force, and external contact force control of two Ni-joint manipulators grasping a constrained common object. Based on a transformed dynamic equation of the entire system in the joint space, motion and force control are designed together via VSC method with robustness to both parametric uncertainties and external disturbances. The proposed VSC controller also guarantees the robotic system with prescribed qualities both in the sliding mode and during the reaching transient.