This paper proposes a method of planning collision free joints paths for two cooperative
manipulators. When two manipulators hold a common object and execute specified tasks,
there are problems related to handling and collision. To move two manipulators effectively,
all of them must be considered together. There are redundancy aspects peculiar to the
cooperative two manipulators. We use this redundancy and the potential function method to
avoid collisions between the object and the link, the link and the link, the link and the …

Recently, it is considerd to be important to cooperate two manipulators effectively. In this
system, problems related to handling, collision avoidance and so many others are must be
considerd together. This paper proposes a method of planning joints paths for cooperative
two manipulators. We consider one manipulator holds a object rigidly and the other
executes specified tasks to the object. We give only relationship of endeffectors of these two
manipulators, so each manipulator can get arbitrary configurations. In general, there are …