【摘要】 本文提出一种新的双手协调变结构控制方案,此方案包括对主手实行滑模控制,对两手输出间相对位置误差实行滑模控制。仿真结果表明所提出控制方案具有很高的协调控制精度。更多还原

【Abstract】 A new control method is presented for the coordinated control of two robot arms based on the theory of variable structure system. The control scheme consists of sliding mode control of the trajectory of the master as well as the position error between outputs of two arms. The simulation results show that the developed control scheme has high precision of coordinated control.更多还原