VSC coordinated control of two manipulator arms in the presence of environmental constraints

A variable structure control (VSC) method is developed for motion, internal force, and constrained force control of two manipulators grasping a common constrained object. Based on a transformed dynamic equation of the entire system in the joint space, a motion and force control are designed together via a VSC method with robustness to parametric uncertainties and external disturbances. The proposed controller guarantees the system with prescribed qualities in the sliding mode and during the reaching transient. Simulation results illustrate the method