A dual arm cooperative task control algorithm with working position determination mechanism

摘要

What kinds of functions the dual arm cooperative task controller must have is considered and concluded as following. The controller must be able to control the relative movement of both hands and the working position of task, and autonomously determine the working position by choosing one criterion from at least two criteria that conflict each other. It is expected that the trajectories of the arms are continuous event if the controller change the criterion. Additionally, the working position need not be strictly optimal.