Kinematic constraints formulation of dual redundant arm robot

Consider a master/slave scheme in the coordinated motion control for carrying a rigid body object by two robot arms, which one robot is called the leader and the other is called the follower. The problem is when the leader´s motion leads the follower to a singular region, or the leader´s motion requires the follower to avoid its joint limit or obstacle, the task cannot be accomplished due to the less DOF of the follower´s. Therefore, a dual arm robot system with two 7 DOF arms is introduced with motivation that the extra DOF can enable the following arm to avoid singularity, joint limit and to add dexterity. The kinematic constraint relationship between dual redundant arms is analyzed and a set of constraint equations is deduced. The simulation results show that this dual arm robot system can solve the above problem in master/slave scheme.