The authors present a solution to the optimal force distributions for two redundant
coordinating robots. Two coordinating robots whose end-effectors firmly grasp a common
inertial load form a closed-chain structure. In these closed kinematic chains, the two robots
must observe a set of constraint conditions on the end-effectors' positions, orientations,
linear and angular velocities and the forces and torques inserted onto the end-effectors by
the load. To achieve the maximum load capability, the optimal force distribution under the …