An easy way of controlling two cooperating robots handling light objects at low speed

When we use two cooperating robots, the relative positioning of the end effectors is a basic task. To carry light objects at low speed, the dynamic effects can be neglected: the kinematic model Is used to describe the task with respect to a mobile reference frame attached to one end effector. The pseudo-inverse matrix method allows to calculate the elementary joint motions; the possible redundancy of the system is used to impose constraints or to optimize a function during the motion.