抄録
Dual-arm industrial robots have been gaining attention as novel tools in automation. We therefore focus on using them to flexibly control both the linear motion and the rotational motion of a working plate. However, it is difficult to measure the synchronous accuracy of two rotary axes of a working plate. The working plate uses dual-arm cooperative control to keep the ball rolling in a circular path on it. In this report, we estimate the effect of the synchronous accuracy of two rotary axes under upper and lower poses to support the working plate and avoid ball-rolling error. We discuss a method to improve the robot motion accuracy based on the double ball bar (DBB) method to generate a robot on-line program by teaching the playback method in industrial fields.
