DOUBLE ARM CONTROL DEVICE AND DOUBLE ARM CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To execute double arm simultaneous action at a higher speed and more efficiently. SOLUTION: A teaching part 2 teaches a movement start position and a target position of a master arm and a slave arm as a teaching point, a free locus movement control part 3 moves both the arms based on this teaching point respectively from the movement start position to the target position by free locus control, during this time a movement locus data acquisition part 4 acquires the respective movement locus data of both the arms stored in a movement locus data memory part 5, a via data calculation part 6 calculates a via point data based on each movement locus data of the movement locus data memory part 5 and relative position attitude relation data of a relative position attitude relation data memory part 1.