DIRECT TEACHING METHOD FOR DUAL-ARM ROBOT

摘要

PURPOSE: A direct teaching method for a dual-arm robot is provided to remove inconvenience due to the synchronization of both arms by automatically generating the trajectory of related operations for one arm even if a person teaches in a state where the other arm is grabbed. CONSTITUTION: A direct teaching method for a dual-arm robot is as follows. A dual-arm robot(100) comprises a first arm(110) and a second arm(120). The first arm and second arm respectively have one or more joints. The second arm is operated by predetermined restriction conditions. One of the first and second arms is set as a reference arm and direct teaching is performed by the reference arm. The teaching trajectory of the other arm is calculated by the restriction conditions from the teaching trajectory of the reference arm. [Reference numerals] (AA) Reference point; (BB) Reference line; (CC) Reference surface