A control scheme for two cooperating robot arms

The results of an experiment for controlling two robot arms in a cooperative manner are presented. The purpose is to move an object by grasping it at two different points using two separate robot arms. Once a path of the object is determined, the differential increments of the Cartesian trajectories of the two robot hands are obtained from the differential increments of the object. Then, the corresponding differential changes of the joint variables of the two robot arms are calculated and are used to control the movement of each robot joint.