Collision Avoidance Sliding Mode Control for Redundant Dual-Arm Robots

摘要

In this paper, a collision avoidance sliding mode control algorithm is proposed for redundant dual-arm robots (RDAR) to solve the self-collision of dual-arm and improve the trajectory accuracy of the end-effector. In order to have a continuous and smooth transition between the trajectory tracking and collision avoidance of the end-effector, we brought two variables in the inverse solution of kinematical RDAR based on the minimum distance function method. In addition, we combine the double power exponential reaching law which is founded on the saturation function and terminal sliding mode control to achieve direct control of the end-effector. Therefore, the proposed control method can not only finish collision avoidance of dual-arm, but also enhance the trajectory accuracy of the end-effector. Finally, the effectiveness of the proposed method is verified by simulation and experimental results.