Dynamic coordination of dual-arm robotic systems with joint flexibility

To understand the dual-arm coordination process and expose some engineering issues, a simple model of the dual-arm part handling process is presented. In this model, it is assumed that each manipulator has joint flexibility. The manipulators may be holding the same rigid object. Based on this mode, the issue of robustness, stability and interaction force accommodation are considered. A dual-arm coordination scheme is also proposed and simulation results are presented