Robust constrained motion control of multi-arm robots holding a common object

A variable structure control (VSC) method is developed for robust constrained motion control of multiarm robots holding a common object in the presence of parametric uncertainties and external disturbances. By introducing a set of generalized coordinates, the closed-chain dynamic equation of robot system can be decomposed into position and force controlled subspace. In the controller design, position and force control are treated together and designed via VSC. For coordinating each robot, load distribution is carried out for minimizing weighted energy consumption