On a control scheme for two cooperating robot arms

Abstract

The problem of controlling two robot arms in a cooperative manner is investigated. The main purpose is to move an object by grasping it at two different points using two separate robot arms. A position control method using the differential relations between the object and the two robot arms is proposed. The differential change of the object is transformed into that of each robot arm, and then the differential change of each joint of the two robot arms is derived. The movements of each robot arm are controlled in small increments. An experiment was performed to demonstrate the proposed method.