Abstract: This paper introduces the Dual Arm coordination control problem based on closed chain formulation.Through a slight modification of an energy Lyapunov function, closed-loop exponential stability fortracking control problem is demonstrated. In this design, the nonliear terms are decoupled from real-timemeasurements. The requirement for on-line computation of nonlinear terms is avoided in the controllerimplementation. Research is supported by Shenyang Robotics Open Research Laboratory Foundation.