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In this paper, a super-twisting algorithm sliding mode controller is proposed for a planar dual arm robot. The control strategy for the manipulator system can effec- tively counteract chattering phenomenon happened with conventional sliding mode approach. The modeling is implemented in order to provide the capability of maneu- vering object in translational and rotational motions. The control is developed for a 2n-link robot and subsequently simulations is carried out for a 4-link system. Com- parative numerical study shows that the designed controller performance with good tracking ability and smaller chattering compared with basic sliding mode controller.

Super-twisting sliding mode based nonlinear control for planar dual arm robots