A general dual-arm robotic simulation system and cooperative control research of multi-manipulator

A dual-arm robotic simulation system is described. It can simulate dual-arm kinematics and dynamics, multi-manipulator cooperative control systems, trajectory planning, and typical tasks of robots. The package provides a dual-arm robotic language and a 3-D graphic display. To study the multi-manipulator cooperative control method more efficiently, it also provides a general user interface and an automatic programming system. The overall structure and a general simulation algorithm are outlined.<<ETX>>