Cooperative robotic arm system and homing method thereof

A homing method for a cooperative robotic arm system, comprising:

• controlling a first robotic arm and a second robotic arm to stop moving, wherein the first robotic arm has a first working vector and the second robotic arm has a second working vector;
• determining whether a first projection vector of the first working vector projected on a first coordinate axis and a second projection vector of the second working vector projected on the first coordinate axis overlap;
• determining whether a third projection vector of the first working vector projected on a second coordinate axis and a fourth projection of the second working vector projected on the second coordinate axis overlap when the first projection vector and the second projection vector overlap;
• and
• controlling a first controlled-to-moved one of the first robotic arm and the second robotic arm to move along a first reset path when the third projection vector and the fourth projection vector do not overlap, wherein the first reset path does not pass through a working point of a stopped one of the first robotic arm and the second robotic arm.