A DUAL ARM ROBOT AND A METHOD FOR CONTROLLING A DUAL ARM ROBOT

摘要

The present invention relates to a dual arm robot comprising a body (1), a first arm (2) attached to the body in a first attachment point (3), a second arm (5) attached to the body in a second attachment point (6), and a controller (10) adapted to control the motions of the arms based on desired positions of the arms. The controller comprises a position correction module (12) for correcting the position of the second arm due to the position and movements of the first arm, and the position correction module is adapted to determine an elastic deformation in the second attachment point based on the force acting on the first attachment point and an elastic model of the body,to determine the change of the position of the second arm based on the determined elastic deformation in the second attachment point, and to correct the position of the second arm based on the determined change of the position of the second arm.