This paper proposes a method of planning collision free joints paths for two cooperative manipulators. When two manipulators hold a common object and execute specified tasks, there are problems related to handling and collision. To move two manipulators effectively, all of them must be considered together. There are redundancy aspects peculiar to the cooperative two manipulators. We use this redundancy and the potential function method to avoid collisions between the object and the link, the link and the link, the link and the obstacle and so on. Simulation results show the effectiveness of the proposed method.
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