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Published on: August 15, 2016
A Reactive Synchronized Motion Controller for Dual-Arm Cooperation with Closed-Chain Constraints
Fengjia Ju1, Zijian Wang1, Mingda Ge1
1School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China.
Biomimetics (Basel, Switzerland)
|May 26, 2026
Summary
This study introduces a novel dual-arm synchronized motion controller (SMC) that ensures coordinated movements even with dynamic obstacles. The controller maintains synchronization and enhances robot performance, validated through simulations and experiments.
Area of Science:
- Robotics
- Control Systems
- Artificial Intelligence
Background:
- Dual-arm manipulation requires satisfying closed-chain constraints for coordinated motion.
- Existing local planning methods fail to guarantee synchronization for dual arms, especially with dynamic obstacles.
Purpose of the Study:
- To develop a reactive synchronized motion controller (SMC) for dual-arm manipulation.
- To ensure synchronized dual-arm control while maintaining performance and avoiding obstacles.
Main Methods:
- Incorporated closed-chain constraints on dual-arm slack velocities using spherical geometric velocity constraints.
- Implemented a flexible master-slave arm switching strategy for adaptive control.
- Developed a controller that addresses dynamic obstacles and joint constraints.
Main Results:
- Achieved synchronized dual-arm control under closed-chain constraints.
- Demonstrated enhanced manipulability and effective obstacle avoidance.
- Validated compliance with joint angle and velocity constraints.
Conclusions:
- The proposed dual-arm reactive synchronized motion controller (SMC) effectively achieves synchronized motion.
- The controller preserves excellent motion performance, including obstacle avoidance and constraint compliance.
- Simulations and experiments confirm the approach's validity on a humanoid robot.
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