A pose/force symmetric coordination method for a redundant dual-arm robot

Purpose: This paper aims to develop a pose/force coordination method for a redundant dual-arm robot to achieve a symmetric coordination task. Design/methodology/approach: A novel control strategy of dual-arm coordination is proposed that associates pose coordination with force coordination. The spatial in-parallel spring and damping model is built to regulate the relative pose error of two end-effectors in real time, and force coordination factor is introduced to realize the dynamic distribution of loadings to limit the object’s internal force in real time. Findings: The proposed method was verified on a real dual-arm robot platform. The symmetric coordination task is performed and the experiment results show that a good behavior on the regulation of the relative pose errors between two arms to achieve the object’s trajectory tracking, and the distribution of the two end-effectors’ loadings to limit the object’s internal force. Originality/value: The benefits of the proposed method are to improve the object’s tracking performance and avoid the object damage during the symmetric coordination task.