Giang Truong Nguyen, Lam Thanh Bui, Minh Tan Cao, Hung Viet Pham, Hien Minh Dao, Tai The Phung, Quan Hai Pham, Hai Xuan Le


From the demand of flexibility in industrial manufacture, dual arm robots develop more and more diverse. Dual arm robots are now applied in many fields: Physics, Mechanics, Teecommunication, Automobile Industry, and Military. In this study, the model is a dual-arm, 4-DOF robot and the joints of the robot are R-type joint (Revolute joint), which has rotating axis perpendicular to two axes of the arms. We designed an adaptive fuzzy sliding mode controller for this robot model. In sliding mode control, there are many unknown parameters which are important for the stability of the system. For determining them, a fuzzy logic system is designed to achieve the desired results

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