Abstract: The optimal load distr ibution was research ed for coordinate motion of dual-arm robot handling object.Based on the dynamic equation of coordinate motion,first,the least-norm method of load distributio n was given,then,by using joint generalised diving forces as a objective functio n,and taking the load and the joint generalized acceleration as the designed v ariables,the synchronous optimal method of load distributio n was estab lished.This method is suitable for the real-time control o f dual-arm rob...