Control of two coordinated robots in motion

When two coordinated robot touch a same object, the three form a closed kinematic chain mechanism. When the chain is in motion, the position and orientation of the two robots must satisfy a set of holonomic equality constraints for every time instant. In addition, when the joint velocities and accelerations of one robot is planned, that of the second robot are determined through two more sets of constraints. Based on the constraint conditions, the joint torques can be computed from the dynamic equations of the robots. The computed torques serves as control inputs to the two robots to generate their coordinated motions as planned.