This research focuses on the development of a controller for the cooperation control of dual arm mechanical manipulator. A controller for the position control of unconstrained robot arm without velocity measurements is also presented.;A PID controller is implemented for the position control of the manipulator. Experiments are performed both in joint space and in Cartesian space and the results are presented.;The experimental set-up consists Remotec's RM-10A dual arm manipulator. Each arm has six separate motorized motions with position sensors. The arm has also an end effector and is provided with a six axes Force/Torque sensor. The manipulator is controlled by two TMS320C40 parallel Digital Signal Processors. The control software which is embedded on the Digital Signal Processor is developed using C language. A Graphical User Interface is also developed using Microsoft Visual C++ to facilitate easy operation of the robot.
