Finite-time motion/force control for motion synchronization of multiple manipulators

This paper presents a new design of finite-time motion and force control for motion synchronization of multiple manipulators. Considering that the end-effectors of the multiple manipulators are constrained by synchronization motion, a reduced form of the dynamic model of multiple manipulators is derived to decouple position and force signals. Then an adaptive motion/force control law based on terminal sliding mode control is designed to drive the system variables to reach and retain in the terminal sliding mode and converge to zero in finite time. Finally, numerical simulation results for multiple two-link manipulators illustrate the expected performance.