Optimization Control of Cooperative Trajectory towards Dual Arms Based on Time-Varying Constrained Output State

Figure 10

The joint information of dual arm and the end-effector trajectory in Gazebo. (a) Joint angular error of the left arm. (b) Joint angular velocity error of left arm. (c) Joint torque of left arm. (d) Joint angular error of right arm. (e) Joint angular velocity error of right arm. (f) Joint torque of right arm. (g) End trajectory of dual arm.

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