  Dual-arm manipulation tasks can be prescribed to a robotic system in terms of
desired absolute and relative motion of the robot's end-effectors. These can
represent, e.g., jointly carrying a rigid object or performing an assembly
task. When both types of motion are to be executed concurrently, the symmetric
distribution of the relative motion between arms prevents task conflicts.
Conversely, an asymmetric solution to the relative motion task will result in
conflicts with the absolute task. In this work, we address the problem of
designing a control law for the absolute motion task together with updating the
distribution of the relative task among arms. Through a set of numerical
results, we contrast our approach with the classical symmetric distribution of
the relative motion task to illustrate the advantages of our method.
