Cooperative control of dual-arm robots for reasonable motion distribution

This paper proposes a cooperative control scheme of dual-arm robots, which produces a reasonable pair of the two endpoint motions of the arms for a given relative motion. A dual-arm system with a linear motion is discussed, and the principle of the control scheme is presented. The redundancy of the system and the problem of the motion distribution are explained. The concept of the absolute motion which represents the total motion of the system is introduced, and a cooperative control scheme of dual-arm robots is proposed, using this absolute motion. Basic equations are presented and a cooperative control scheme of dual-arm robots with six degrees of freedom is proposed. Finally, several simulation and experimental results are given to illustrate the validity of the proposed control scheme