![](bg7.png)
Figure 7: Control sent to the left arm.
5 CONCLUSION
In this paper, we have tackled the problem of coor-
dinating two manipulator arms from a control point
of view. We have proposed a vision-based control
strategy allowing to truly coordinate the motions of
a dual-arm robotic system. The task to be performed
has been described by a sequence of three subtasks.
Each of them is defined by visual features character-
izing the relative pose between the end effectors so
that a true collaboration between both arms has been
achieved. A multi-cameras image based visual ser-
voing has then been designed. Finally, the proposed
control strategy has been validated and the obtained
simulation results have demonstrated its interest and
its efficiency.
Now, to go further and improve our approach, it is
necessary to take into account the unexpected events
which may occur during the task and hamper its exe-
cution (e.g., joint limits, singularities, collisions, oc-
clusions, etc.). Therefore, our next step will be to ad-
dress this problem by taking advantage of the system
redundancy. In addition to these theoretical improve-
ments, we also plan to experimentally validate our ap-
proach on the LAAS PR2 robot and to perform more
complex coordination tasks.
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