Abstract: Cooperative operation for a redundant dual arm robot can be divided into three modes, namely, independent mode, full constrained cooperative working mode and partly constrained cooperative working mode. The dynamic equations of both dual arms and the interactions between dual arms and the operating objects were established and derived based on the three modes, and a unified formulation was obtained. With focus on motion and force of the desired task being operated, a unified controller was designed which could be carried out based on two dynamic model based controllers, namely feedforward controller and computer torque controller. Simulations of dual arms cooperative operation were carried out on a redundant dual arm robot, results of simulations were reported and discussed to validate the theoretical results of the proposed controller. Comparing with feedforward controller, the computer torque controller has better trajectory tracking precision.

Key words: dual arm robot, redundant degree of freedom, dynamics, cooperative operation, controller design