Dynamic game applied to coordination control of two arm robotic system

The previous kinematic study of a pick-and-place robot with two entirely independent arms, is extended to the dynamic model of such a robot. The arms are seen as two players avoiding collision in any event. The corresponding game of kind gives the alloption program to the designer. A barrier between dexterous regions for each of the arms is determined. The method can be applied to a large class of multi-arm robots.

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