Dual arm cooperative task control algorithm with working position determination mechanism

What kinds of functions the dual arm cooperative task controller must have is considered and concluded as followings. The controller must be able to control the relative movement of both hands and the working position of task, and autonomously determine the working position by choosing one criterion from at least two criteria that conflict each other. It is expected that the trajectories of the arms are continuous even if the controller change the criterion. Additionally, the working position need not be strictly optimal. The previously presented papers have not satisfied all conditions shown above. In this paper, the new controller that can accept the desired trajectory of relative movement of both hands and autonomously determine the working position in real time is proposed. It is shown that the proposed controller satisfies such conditions and works effectively by the experiment in which the dual arm robot holds, bends and breaks a wooden chopstick.