Abstract: An efficient method of optimal joint trajectory planning for the coordination system of two-arm robots holding a rigid object is presented. First, the normalized joint coordinates and movement time are adopted so that its trajectory is decoupled with time, and the trajectory equations are optimized by nonlinear programming algorithm, Then, the trajectory equations of normalized parameter are made to generate real trajectory of the system. Finally, when the compliance which exists in the end effectors of the arms carring an object is given, the desired motion trajectory of the system is determined immediately through the kinematics constraint. In order to guarantee coordination motion of the two-arm robots system, the adjustment factor is defined.

Key words: Coordination system, Kinematics, Nonlinear programming, Trajectory planning, Two-arm robots