Double-arm redundant mechanical arm dynamic cooperative control method based on task decomposition

The invention discloses a double-arm redundant mechanical arm dynamic cooperative control method based on task decomposition. The method comprises the following steps that a target task of double arms is given; a plurality of feature points are selected for the double arms; a kinematics equation of a double-arm system is established, and the position and speed of control points of the double arms are calculated; a double-arm self-obstacle-avoidance task is established through the control points, a joint speed general solution equation of the redundant mechanical arms is established, and a dynamic decision factor and the double-arm self-obstacle-avoidance task are added; and the two arms complete the target task. According to the dynamic decision control method for redundant double-arm kinematics task decomposition, different control strategies can be adopted according to real-time motion states of the double arms, so that the double arms complete the given target task on the basis of ensuring safety. 本发明公开了一种