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Dual-Arm Coordinated Control Strategy Based on Modified Sliding Mode Impedance Controller

To meet the high-accuracy position/force control requirements of dual-arm robots for handling a target object, a control algorithm for dual-arm robots based on the modified sliding mode impedance controller MSMIC(tanh) is proposed. First, the combinative kinematics equation of the dual-arm robots an...

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Detalles Bibliográficos
Autores principales:	Liu, Xuefei, Xu, Xiangrong, Zhu, Zuojun, Jiang, Yanglin
Formato:	Online Artículo Texto
Lenguaje:	English
Publicado:	MDPI 2021
Materias:	Article
Acceso en línea:	https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8309624/ https://www.ncbi.nlm.nih.gov/pubmed/34300391 http://dx.doi.org/10.3390/s21144653

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