| 摘要 |
<p>The present invention relates to an arm posture controlling method for a duel-arm robot to use a grip unit installed in the front of the arm, and the grip unit inserting a workpiece into a hole. The method includes the steps of: sensing repulsive force generated on a contact spot of the hole and the workpiece; calculating an error of an insertion posture based on the detected repulsive force; and correcting the posture by compensating the estimated error.</p> |
