| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for controlling an object holding mechanism of a dual-arm robot and the location and position of an object by the duel-arm robot, the dual-arm robot operating two robot arms to hold and move the same object in collaboration with each other, and absorbing an influence of a relative error occurring during the collaborative operation thereof by an object holding portion of a slave robot, thereby easily carrying out the collaborative operation at higher speed. SOLUTION: There is provided the dual-arm robot which includes a robot 1 as a master robot and the other robot 1 as the slave robot, and carries out the duel-arm collaborative operation in order to hold and move the same object through collaboration of the two arms. According to the dual-arm robot, the master robot is comprised of a gripping means for rigidly holding an end of the object, to thereby control the location and position of the object. The slave robot is comprised of a bearing means for bearing the one end of the object only in the gravity direction to compensate for an influence by the gravity. The bearing means functions to auxiliarily hold the other end of the object the location and position of which is controlled by the master robot. COPYRIGHT: (C)2003,JPO
|
