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

Figure 7

Coordinated trajectory of the dual arm. (a) Dual-arm joint angles. (b) Angular velocity of the dual-arm joints. (c) Angular acceleration of the dual-arm joints. (d) End-effector trajectory of the dual arm.

(a)

(b)

(c)

(d)