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A centralized hybrid position/force controller for cooperative robots with bounded torque inputs

The problem of dexterous robotic manipulation of rigid objects by means of a cooperative robotic system is addressed in this paper. It is assumed that the robots can only push the object (unilateral constraints). In order to solve the aforementioned control problem, a centralized control algorithm with bounded torque inputs based on the Orthogonalization Principle and second order sliding mode control is proposed. Experimental results are presented to show the good performance of the proposed controller. In addition, the stability analysis of the closed loop dynamics is developed.