Abstract：This paper investigates the configuration space description and collision avoidance problem fordual-robot coordination system, the two cooperating robot arms is modelled as a closed chain system dueto constrained relationship, then an algorithm computing the degree of freedom is given by Wittenburgmethod, and the explicit representation of the reachable configuration space is presented, finally, a procedure solving the paths planning problem for two cooperating robots in the presence of obstacles is developed.
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