Admittance-Based Non-Singular Terminal Sliding Mode Control of Multiple Cooperative Manipulators

Wan, Lucas; Pan, Ya‐Jun; Chen, Qiguang

doi:10.1109/aim46323.2023.10196213

2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 2023

DOI: 10.1109/aim46323.2023.10196213

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Admittance-Based Non-Singular Terminal Sliding Mode Control of Multiple Cooperative Manipulators

Lucas Wan

Ya‐Jun Pan

Qiguang Chen

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Cooperative Robot Manipulators Dynamical Modeling and Control: An Overview

Ghorbanpour

2023

Dynamics

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Robot manipulators possess the capability to autonomously execute complex sequences of actions. Their proficiency in handling challenging and hazardous tasks has led to their widespread adoption across diverse sectors, including industry, business, household appliances, rehabilitation, and many more. However, certain tasks prove to be challenging for individual robots, primarily due to constraints in their structure and limited degrees of freedom. Cooperative robot manipulators (CRMs) emerge as a compelling solution when dealing with large, heavy, or flexible payloads. The utilization of CRMs offers a host of benefits, including enhanced manipulation performance achieved through the synergy of sensing and actuation capabilities or by tapping into increased redundancy. Numerous techniques have been devised for the control and dynamical modeling of CRMs. Nevertheless, the field continues to present technical challenges and scientific inquiries. To inspire and facilitate further research and development in this realm, this review aims to consolidate the current body of knowledge pertaining to CRMs kinematics, dynamics modeling, and various control methodologies used for payload manipulation via CRMs.

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Cooperative Robot Manipulators Dynamical Modeling and Control: An Overview

Ghorbanpour

2023

Dynamics

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show abstract

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Admittance-Based Non-Singular Terminal Sliding Mode Control of Multiple Cooperative Manipulators

Cited by 1 publication

References 14 publications

Cooperative Robot Manipulators Dynamical Modeling and Control: An Overview

Cooperative Robot Manipulators Dynamical Modeling and Control: An Overview

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