COORDINATED ARM MOTIONS OF A TWO—ARM ROBOT

This paper investigates the kinematic coordinated problems of two-arm robots. When two manipulatorsmove in a coordinated way, their movements are not independent. Based on the structure and working character oftwo-arm robots, the paper discusses the problem of one object to be held by two manipulators. We have derivedout the state of motion of the slave arm in the coordinates system of itself from that of the main arm.