A novel technique of dual-arm robot manipulators: Path-contouring control problem

摘要

The problem of Path-contouring Control of dual arm robot manipulators is defined by the equivalent contour errors determining the desired path. Equivalent errors approach utilizes the n - 1 equivalent contour error in terms of algebraic equation and one tangential error to obtain the new nonlinear coordinate system. It becomes the problem of stabilization of Path-contouring Control. As a result, the existing control techniques can be considered to deal with such the problem of stabilization. The results of experiment demonstrate the excellent performance of the proposed technique.