Investigation of two operation method for graspless handling motion with a 3D printed polymeric humanoid robot by ROS control system

Recently, more and more researchers and industrial practitioners have begun to pay attention to dual-arm robots, not only because they provide more maneuverability in the field of automation, but also because of the convenience they bring to machining. Based on this, it is necessary to investigate how to synchronize and accurately control the dual arms during machining. In this paper, we propose two methods for direct control of a plate by the dual arms of a robot to make a ball placed on the plate show predictable motion, and analyze the actual and ideal motion trajectories of the ball. The objective is to verify the accuracy of the control by comparing the motion trajectories. It was found that the motion trajectories were somewhat in line with expectations and the control system is accurate.