JP2006167902A - Control device of two arm robot and control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a two arm robot capable of precisely working by selecting the more suitable arm out of a right arm and a left arm each time in operating an object by the two arms. <P>SOLUTION: This two arm robot is devised to have a using arm selecting part to select the right arm in the case when the object is positioned on the right side of a robot body and the left arm in the case when the object is positioned on the left side of the robot body or devised to select a using arm in accordance with workability and a position of an operation designating point of the object as a standard. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a control apparatus and a control method for a dual-arm robot that performs operations such as transportation and assembly of objects in factories, medical welfare facilities, and homes.

In recent years, two-arm robots have been provided in factories, medical welfare facilities, homes, etc. that are equipped with two robot arms that have the same structure as human arms and perform predetermined tasks by operating them in coordination. ing. An example of a control system for a double-arm robot is shown in Patent Document 1 and will be described below with reference to the drawings.
Japanese Patent Laid-Open No. 5-92379 (page 6, FIG. 5)

8A and 8B are diagrams showing a configuration of a conventional double-arm robot in Patent Document 1, wherein FIG. 8A is an external view, and FIG. 8B is an internal block diagram.
In the figure, 1 is a robot body, 2 is an object, 3 is a right arm that is attached to the right side of the robot body 1 and can operate the object 2, and 4 is attached to the left side of the robot body 1 to operate the object 1. A possible left arm, 5 is an arm control unit that can control the right arm 3 and the left arm 4, 6 is a visual sensor that is mounted in the approximate center of the robot body 1 and can image the object 2, and 7 is a visual sensor 6. An image processing unit for processing the acquired image information, 10 is a monitor for presenting the state of the double-armed robot to the operator, 11 is an operating table for the operator to instruct the operation of the double-armed robot, and 8 is an overall control for overall control. It is a calculation part.
Next, the operation of this conventional example will be described.
The image of the robot or model created by the overall calculation unit 8 is superimposed on the image from the visual sensor 6 via the image processing unit 7 and then displayed on the monitor 10 which is a three-dimensional graphic display. When the operator gives an operation command from the operation table 11 while viewing the display on the monitor 10, the result calculated in the overall calculation unit 8 based on the operation command is sent to the arm control unit 5, and the right arm 3 and the left arm 4 are moved. Control.
In Patent Document 1, a control point frame is defined for the end effector of the right arm 3 and the left arm 4, that is, the hand, and is controlled so as to match the target point frame defined for the object 2. The method of approaching is presented.
According to this conventional example, when the operator designates an object, the overall calculation unit 8 can automatically perform a fine arm positioning operation for reaching the target gripping point of the object.

However, in the conventional example shown in Patent Document 1, the manipulation operation by the cooperative work of the left and right arms is defined. For example, when acquiring an object placed on a workbench, any of the left and right arms should be used first. The operator has to make a decision while looking at the information on the monitor 10 and designate it with the operation console 11.
In future robots, medical welfare facilities, and home robots that work at home, it is required to act autonomously without human help, but with conventional methods, the position of the robot and the object Because there was no basic criterion for determining which of the left and right arms to use depending on the relationship, the dual-arm robot itself cannot autonomously determine and act without human help. There was a problem.
The present invention has been made in view of such problems, and by providing a criterion for selecting which one to select when operating an object with a double-arm, it is optimal for the right arm and the left arm. The purpose is to provide a double-arm robot that can select an arm each time and perform an accurate work.

In order to solve the above problem, the present invention is configured as follows.
The invention according to claim 1 relates to a control apparatus for a double-arm robot, and is a robot main body, a right arm attached to the right side of the robot main body and capable of operating an object, and attached to the left side of the robot main body. A left arm capable of manipulating an object, an arm control unit capable of controlling the right arm and the left arm, a visual sensor mounted substantially in the center of the robot body and capable of imaging an object, and acquired by the visual sensor In the control apparatus for a dual-arm robot having an image processing unit that processes the image information and a general calculation unit that transmits a command to the arm control unit based on a processing result of the image processing unit, the general calculation unit includes: A use arm selection unit that selects which of the right arm and the left arm is used according to the position information of the object with respect to the robot body obtained by the image processing unit; It is characterized in that.
According to a second aspect of the present invention, in the control apparatus for a double-arm robot according to the first aspect, the use arm selecting unit is configured such that when the object is located on the right side of the robot body, the right arm is used. The left arm is selected when positioned on the left side of the robot body.
According to a third aspect of the present invention, in the control device for a dual-arm robot according to the first aspect, the use arm selection unit compares the manipulability degree at the hand position where the right arm and the left arm operate the object. In this case, an arm having a higher maneuverability is selected.
According to a fourth aspect of the present invention, in the control device for a dual-arm robot according to any one of the first to third aspects, the use arm selection unit is configured to perform the operation when the operation designated point of the object is located on the right side. When the right arm is located on the left side, the left arm is selected.
According to a fifth aspect of the present invention, in the control device for a dual-arm robot according to any one of the first to fourth aspects, the use arm selection unit sets either the right arm or the left arm as a dominant arm in advance. When the object can be gripped by either the right arm or the left arm, the dominant arm is selected.

The invention according to claim 6 relates to a control apparatus for a dual-arm robot, and is a robot main body, a right arm attached to the right side of the robot main body and capable of operating an object, and attached to the left side of the robot main body. A left arm capable of manipulating an object, an arm control unit capable of controlling the right arm and the left arm, a visual sensor mounted substantially in the center of the robot body and capable of imaging an object, and acquired by the visual sensor In the control apparatus for a dual-arm robot, comprising: an image processing unit that processes the processed image information; and a central calculation unit that transmits a command to the arm control unit based on a processing result of the image processing unit. A use arm selection unit that selects which of the right arm and the left arm is used according to weight information corresponding to the object obtained by the image processing unit. To have.
The invention according to claim 7 relates to a control apparatus for a dual-arm robot, and is a robot main body, a right arm attached to the right side of the robot main body and capable of operating an object, and attached to the left side of the robot main body. A left arm capable of manipulating an object, an arm control unit capable of controlling the right arm and the left arm, a visual sensor mounted substantially in the center of the robot body and capable of imaging an object, and acquired by the visual sensor In the control apparatus for a dual-arm robot, comprising: an image processing unit that processes the processed image information; and a central calculation unit that transmits a command to the arm control unit based on a processing result of the image processing unit. A use arm selection unit that selects which of the right arm and the left arm is used according to designated arm information corresponding to the object obtained by the image processing unit. It is a symptom.
The invention according to claim 8 relates to a control method for a dual-arm robot, wherein the robot main body, a right arm attached to the right side of the robot main body and capable of operating an object, and attached to the left side of the robot main body In a control method for a dual-arm robot having a left arm capable of operating an object, and an arm control unit capable of controlling the right arm and the left arm, position information of the object with respect to the robot body is acquired, and the position information (1) When the object is located on the right side of the robot body, the right arm is selected and the object is the robot body. The left arm is selected when the left arm is located on the left side. (2) The maneuvering degree at the hand position where the right arm and the left arm operate the object is compared, and the maneuver is more maneuverable. (3) The right arm is selected when the operation designated point of the object is located on the right side, and the left arm is selected when located on the left side. (4) The right arm Or the left arm is set as a dominant arm in advance, and when the object can be gripped by either the right arm or the left arm, the dominant arm is selected (1) to (4). It is characterized by executing at least one of them.
The invention according to claim 9 relates to a control method for a dual-arm robot, wherein the robot main body, a right arm attached to the right side of the robot main body and capable of operating an object, and a target attached to the left side of the robot main body. In a control method of a double-arm robot having a left arm capable of operating an object and an arm control unit capable of controlling the right arm and the left arm, weight information corresponding to the object is acquired, and the weight information is The right arm or the left arm is selected.
A tenth aspect of the present invention relates to a control method for a dual-arm robot, and relates to a robot main body, a right arm attached to the right side of the robot main body and capable of operating an object, and attached to a left side of the robot main body. In a control method for a dual-arm robot having a left arm capable of operating an object and an arm control unit capable of controlling the right arm and the left arm, the designated arm information corresponding to the object is acquired and the designated arm information is acquired. In accordance with the above, it is characterized in that it is selected which of the right arm and the left arm is used.

According to the device invention of claim 1, the general calculation unit selects whether to use the right arm or the left arm according to the position information of the object with respect to the robot body obtained by the image processing unit. Since the arm selection unit is provided, it is possible to autonomously select an arm that handles an object without a command from the operator.
According to the apparatus invention of claim 2, the arm selection unit selects the right arm when the object is located on the right side of the robot body, and selects the left arm when the object is located on the left side of the robot body. Therefore, it is possible to easily provide a criterion for determining which of the left and right arms should be used to hold the object.
According to the device invention of claim 3, since the use arm selection unit compares the manipulability at the hand position where the right arm and the left arm operate the object, and selects the arm having a greater manipulability, Since a criterion for determining which of the left and right arms is to be used to hold the object is determined based on the ease of operation of the arm, an operation with less burden on the arm can be realized.
According to the device invention of claim 4, the use arm selection unit selects the right arm when the operation designated point of the object is located on the right side, and selects the left arm when located on the left side. By determining the arm to be used in consideration of the position of the operation designated point on the object as well as the position of the arm, it is possible to select an arm that is easier to operate.
According to the device invention of claim 5, when the use arm selection unit sets either the right arm or the left arm as the dominant arm in advance, and the object can be gripped by either the right arm or the left arm. Since the dominant arm is selected, the arm used by the dual-arm robot is mainly the dominant arm except when the object position is significantly deviated from the center. There is an advantage that it is easy to stick and has high affinity. In addition, new personalities such as “right-handed” and “left-handed” can be added to the robot.
According to the device invention described in claim 6, the overall calculation unit selects the right arm or the left arm to be used according to the weight information corresponding to the object obtained by the image processing unit. Since the right and left arms have different load weights, an appropriate load weight arm can be selected according to the weight of the object.
According to the apparatus invention of claim 7, the general calculation unit selects the right arm or the left arm to be used according to the designated arm information corresponding to the object obtained by the image processing unit. Since the selection unit is included, even when the left and right arms have different characteristics, it is possible to select an arm having an appropriate characteristic according to the type of the object.
According to the method invention of claim 8, as a selection criterion for selecting which of the right arm and the left arm to use, using the position information of the object with respect to the robot body obtained by the image processing unit, Since at least one of (1) to (4) is executed, it is possible to autonomously select an arm that handles an object without command from the operator.
According to the method invention of claim 9, since either the right arm or the left arm is selected according to the weight information corresponding to the object obtained by the image processing unit, Even when the transportable weight is different, an arm having an appropriate transportable weight can be selected according to the weight of the object.
According to the apparatus invention of claim 10, since either the right arm or the left arm is selected according to the designated arm information corresponding to the object obtained by the image processing unit, the left and right arms Even when the characteristics differ, an arm having an appropriate characteristic can be selected according to the type of the object.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1A and 1B are diagrams showing the configuration of a dual-arm robot according to the present invention. FIG. 1A is an external view, and FIG. 1B is an internal block diagram.
The structure is the same as that of FIG. 8 shown in the prior art except for a part, and the same reference numerals indicate the corresponding parts. In the figure, 1 is a robot body, 2 is an object, 3 is a right arm that is attached to the right side of the robot body 1 and can operate the object 2, and 4 is attached to the left side of the robot body 1 to operate the object 1. A possible left arm, 5 is an arm control unit that can control the right arm 3 and the left arm 4, 6 is a visual sensor that is mounted in the approximate center of the robot body 1 and can image the object 2, and 7 is a visual sensor 6. An image processing unit 8 processes the acquired image information, and 8 is an overall calculation unit that performs overall control. Note that the descriptions of “left” and “right” in the text correspond to the left-right direction when viewed from a dual-arm robot.
In the present invention, since it is assumed that the robot acts autonomously without depending on an operator's instruction, the robot does not include the monitor 10 and the operation table 11 which are in the prior art. On the other hand, it is characterized in that a use arm selection unit 9 is newly provided in the overall calculation unit 8.
In the following, the operation of the present invention will be described with reference to an example in which the robot grips the object 2 based on the information of the visual sensor 6.
First, the image of the object 2 captured by the visual sensor 6 is transmitted to the image processing unit 7. The image processing unit 7 detects the type of the object 2 and the position with respect to the robot body based on the image. This method is performed as follows. An object is placed in advance at a known distance from the robot body, and an image is acquired by the visual sensor 6. The set of the image, the object name, and the position at this time is stored in a storage device inside the image processing unit. This operation is called teaching. Teaching is performed for all objects that the robot may grip. During actual robot work, the feature points of the image of the object 2 imaged by the visual sensor 6 are compared with the stored feature points of the image at the time of teaching. All the teaching images are compared, and the name of the image with the most matching feature points is identified as the object name. Furthermore, the current robot is calculated by calculating the amount of deviation of the current position with respect to the object position at the time of teaching from the position deviation between the object image and the teaching image, and adding this to the stored object position at the time of teaching. The object position with respect to the main body is calculated. As described above, the name of the object and the position with respect to the robot body can be calculated.
When the name of the object 2 calculated by the image processing unit 7 matches the object name to be grasped, the overall calculation unit 8 moves the arm so as to grasp the object 2 based on the position information of the object 2. A command is transmitted to the control unit 5. The arm controller 5 controls the right arm 3 or the left arm 4 based on the command. The end of the arm is equipped with an end effector, that is, a hand, whereby the object 2 can be gripped.
In the present invention, a use arm selection unit 9 is newly added to the overall calculation unit 8. The use arm selection unit 9 determines which of the right arm 3 and the left arm 4 is used to hold the object 2 according to the position information of the object 2 with respect to the robot body 1 obtained from the image processing unit 7. select. Thereby, the arm which handles a target object autonomously can be selected, without receiving a command from the operator.

Next, the operation of the use arm selection unit 9 will be specifically described based on a flowchart.
FIG. 2 is a diagram showing an operation flow of the double-arm robot in the first embodiment of the present invention. Steps S1 to S6 show the steps of the operation flow.
First, the overall calculation unit 8 acquires the position of the object 2 with respect to the robot body from the image processing unit 7 (step S1).
Next, it is checked whether or not the acquired position is on the right side of the robot body (step S2).
In the case of the right side, the process proceeds to step S3, and the arm to be used is determined as the right arm.
In the case of the left side, the process proceeds to step S4, and the arm to be used is determined as the left arm.
Subsequently, in either case, the process proceeds to step S5, and a gripping operation is started using the determined arm.
In step S6, the gripping operation is monitored, and the process ends when the gripping is completed. If gripping has not been completed, monitoring is repeated until completion.
According to the above method, it is possible to easily provide a criterion for determining which of the left and right arms should be used to hold the object 2.

このＪ（θ）をヤコビ行列と呼ぶ。このとき、マニピュレータの可操作度ｗは下記の式（２）のようにスカラー量として表される。

この式（２）を用いれば、アームが所定の姿勢にある時の動作のし易さを定量化することができる。例えば、手先が肩関節から遠く、アームが伸びきった状態では可操作性は減少し、また、手先が肩関節に近すぎ、アームが極端に折れ曲がった状態でも可操作性は減少する。一般的には、各関節とも可動領域内で動作角度に余裕がある状態が可操作性の大きい状態であるといえる。
ステップＳ７では、対象物を把持する位置姿勢に手先を配置した場合の可操作度を左右両方のアームにおいて求める。
続いて、ステップＳ８では、左右アームの可操作度を比較し、右アームの可操作度が大きい場合にはステップＳ３に進み、使用するアームを右アームに決定する。左アームの可操作度が大きい場合にはステップＳ４に進み、使用するアームを左アームに決定する。
上記の方法によれば、対象物２を把持するために左右どちらのアームを使用するべきかの判断基準をアームの動作し易さを基に決定するので、アームに負担の少ない動作を実現することができる。
なお、ロボットアームの可操作度についての参考委となる論文は、吉川恒夫、「ロボットアームの可操作度」、日本ロボット学会誌、第２巻第１号、ｐｐ.63-67、1984、に掲載されている。 FIG. 3 is a diagram showing an operation flow of the double-arm robot in the second embodiment of the present invention. The same reference numerals as those in FIG. 2 represent the same steps and will not be described.
This embodiment is characterized in that steps S7 and S8 are provided instead of step S2. In step S <b> 7, the use arm selection unit 9 calculates the operable degree of the left and right arms in a posture in which the hand grasps the object 2. The manipulability is an index that quantitatively represents how easily the robot arm can easily move the hand from a predetermined posture.
Assuming that the joint angle vector of the arm is θ, the vector of the hand position / posture is r, and the geometric relationship between the two is expressed by the equation r = J (θ), the equation obtained by time differentiation of this is the equation (1). It becomes.

This J (θ) is called a Jacobian matrix. At this time, the manipulator maneuverability w is expressed as a scalar quantity as in the following equation (2).

By using this equation (2), it is possible to quantify the ease of operation when the arm is in a predetermined posture. For example, the maneuverability decreases when the hand is far from the shoulder joint and the arm is fully extended, and the maneuverability decreases even when the hand is too close to the shoulder joint and the arm is extremely bent. In general, it can be said that a state where each joint has a sufficient operating angle within the movable region is a state in which operability is high.
In step S7, the manipulability when the hand is placed in the position and orientation for gripping the object is obtained in both the left and right arms.
Subsequently, in step S8, the operability of the left and right arms is compared. If the operability of the right arm is large, the process proceeds to step S3, and the arm to be used is determined as the right arm. When the operable degree of the left arm is large, the process proceeds to step S4, and the arm to be used is determined as the left arm.
According to the method described above, the determination criterion for determining which arm to use to hold the object 2 is determined based on the ease of operation of the arm, so that an operation with less burden on the arm is realized. be able to.
A paper that serves as a reference committee on the maneuverability of robot arms is Tsuneo Yoshikawa, “Robot arm maneuverability”, Journal of the Robotics Society of Japan, Vol. 2, No. 1, pp.63-67, 1984. It is posted.

FIG. 4 is a diagram showing an operation flow of the double-arm robot in the third embodiment of the present invention. The same reference numerals as those in FIG. 2 represent the same steps and will not be described.
This embodiment is characterized in that step S9 is provided instead of step S2. In step S9, the image processing unit 7 identifies the target object 2 and detects its position and orientation information. The use arm selection unit 9 determines whether the operation designated point of the object 2 is on the right or the left based on the posture information. The operation designated point is a part to be operated provided on the object. For example, a handle for a coffee cup or a door knob for a door corresponds to an operation designated point. Even if the object is on the left when viewed from the robot, if the operation designated point is on the right side, the use of the right arm is more efficient. If it is determined in step S9 that the operation designated point is on the right side, the process proceeds to step S3, and the arm to be used is determined as the right arm. If it is determined that the operation designated point is on the left side, the process proceeds to step S4, and the arm to be used is determined to be the left arm.
According to the above method, since the arm to be used is determined in consideration of not only the position of the object but also the position of the operation designated point on the object, an arm that is easier to operate can be selected.

FIG. 5 is a diagram showing an operation flow of the double-arm robot in the fourth embodiment of the present invention. The same reference numerals as those in FIG. 2 represent the same steps and will not be described.
In the present embodiment, the “dominant arm” is set as the double arm, and when the left and right arms can be used to hold the object, the set dominant arm is always used.
FIG. 5 is characterized in that steps S10 to S12 are placed instead of step S2.
In step S <b> 10, the use arm selection unit 9 determines whether or not the object 2 exists in the center when viewed from the robot body 1. Specifically, the center here refers to a region that can be gripped by either the left or right arm. If it is determined that the object 2 exists in the center, the process proceeds to step S11.
In step S11, the use arm selection unit 9 checks a preset dominant arm, and if the dominant arm is right, the process proceeds to step S12 and determines the arm to be used as the right arm. If the dominant arm is on the left side, the process proceeds to step S4, and the arm to be used is determined to be the left arm. The dominant arm is set in advance at the time of production, but it may be reset by the user after introduction.
According to this method, the arm used by the dual-arm robot is mainly the dominant arm, except when the object position is greatly deviated from the center. There is an advantage of high nature. In addition, new personalities such as “right-handed” and “left-handed” can be added to the robot.

FIG. 6 is a diagram showing an operation flow of the double-arm robot in the fifth embodiment of the present invention. The same reference numerals as those in FIG. 2 represent the same steps and will not be described.
In this embodiment, when the object image is taught, the weight of the object is stored in the storage device in addition to the object name and position.
When the object 2 is identified by the image processing unit 7 in step S13, the weight information paired with the object 2 is extracted from the storage device in step S14.
The use arm selection unit 9 also stores the transportable weights of the left and right arms as set values, and compares the transportable weight of the right arm with the weight of the object in step S15. If the object weight is less than or equal to the right arm transportability, it is determined that the object can be transported, and the process proceeds to step S16. If the object weight is greater than or equal to the right arm's transportability, it is determined that the transport is impossible, and the process proceeds to step S17.
In steps S16 and S17, the weight of the left arm is compared with the weight of the object. If it is determined in step S16 that the object weight is less than or equal to the left arm transportability, it is determined that either the left or right can be transported, and the process proceeds to step S18.
In step S18, as in the first embodiment, the arm to be used is selected depending on whether the object is on the right or left of the robot body.
If it is determined in step S16 that the object weight is greater than or equal to the left arm, it is determined that only the right arm can be transported, and the process proceeds to step S3 to determine the arm to be used as the right arm.
If it is determined in step S17 that the object weight is less than or equal to the left arm's transportability, it is determined that only the left arm can be transported, and the process proceeds to step S4 to determine the arm to be used as the left arm.
If it is determined in step S17 that the object weight is greater than or equal to the left arm's transportability, it is determined that conveyance is impossible on either the left or right side, and the action is stopped (step S19). According to this method, even when the weights of the left and right arms are different, it is possible to select an arm with an appropriate weight according to the weight of the object.

FIG. 7 is a diagram showing an operation flow of the double-arm robot in the sixth embodiment of the present invention. The same reference numerals as those in FIG. 2 represent the same steps and will not be described.
In a dual-arm robot, for example, the right arm has a large output but low accuracy, and the left arm has a small output but high accuracy. is there. In the above example, it is better to grip the hard and sturdy object with the right arm and the soft and fragile object with the left arm. In this embodiment, when teaching an object image, in addition to the object name and position, designated arm information is also stored in the storage device. The designated arm information is a flag indicating whether the arm suitable for gripping, transporting, or operating is left or right.
When the object 2 is identified by the image processing unit 7 in step S13, the designated arm information paired with the object 2 is extracted from the storage device in step S20.
In step S21, the designated arm information is checked. If it is the right arm, the process proceeds to step S3, and the arm to be used is determined to be the right arm. In the case of the left arm, the process proceeds to step S4, and the arm to be used is determined to be the left arm.
According to the above method, even when the characteristics of the left and right arms are different, it is possible to select an arm having appropriate characteristics according to the type of the object.

  The present invention presents a criterion for determining which of the left and right arms is used in a dual-arm robot, but the present invention can be applied in a similar manner to a system having three or more arms. Further, the present invention can be applied as a work arm selection method in a multi-robot system in which a plurality of robots work in cooperation.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the structure of 1st Example of this invention, (a) is an external view, (b) has shown the internal block diagram. It is an operation | movement flowchart of 1st Example of this invention. It is an operation | movement flowchart of 2nd Example of this invention. It is an operation | movement flowchart of 3rd Example of this invention. It is an operation | movement flowchart of 4th Example of this invention. It is an operation | movement flowchart of 5th Example of this invention. It is an operation | movement flowchart of 6th Example of this invention. It is a figure which shows the structure of a prior art example, (a) is an external view, (b) has shown the internal block diagram.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Robot main body 2 Object 3 Right arm 4 Left arm 5 Arm control part 6 Visual sensor 7 Image processing part 8 General calculation part 9 Use arm selection part

Claims (10)

A robot main body, a right arm attached to the right side of the robot main body and capable of operating an object, a left arm attached to the left side of the robot main body and capable of operating an object, the right arm and the left arm A controllable arm control unit, a visual sensor that is mounted substantially in the center of the robot body and can image an object, an image processing unit that processes image information acquired by the visual sensor, and processing of the image processing unit In a control apparatus for a double-arm robot having an overall calculation unit that transmits a command to the arm control unit based on a result,
The overall calculation unit includes a use arm selection unit that selects which of the right arm and the left arm is used according to position information of an object with respect to the robot body obtained by the image processing unit. A control device for a dual-arm robot.   The use arm selection unit selects the right arm when an object is located on the right side of the robot body, and selects the left arm when the object is located on the left side of the robot body. The control apparatus for a double-arm robot according to claim 1.   The said use arm selection part compares the operable degree in the hand position which the said right arm and the said left arm operate | moves a target object, and selects an arm with a larger operable degree. Double arm robot control device.   The said use arm selection part selects the said right arm when the operation designation | designated point of a target object is located in the right side, and selects the said left arm when located in the left side. The control apparatus for a double-arm robot according to any one of the preceding claims.   The use arm selection unit sets either the right arm or the left arm as a dominant arm in advance, and selects the dominant arm when the object can be gripped by either the right arm or the left arm. The control apparatus for a dual-arm robot according to any one of claims 1 to 4, wherein the control apparatus is a double-arm robot. A robot main body, a right arm attached to the right side of the robot main body and capable of operating an object, a left arm attached to the left side of the robot main body and capable of operating an object, the right arm and the left arm A controllable arm control unit, a visual sensor that is mounted substantially in the center of the robot body and can image an object, an image processing unit that processes image information acquired by the visual sensor, and processing of the image processing unit In a control apparatus for a dual-arm robot having an overall calculation unit that transmits a command to the arm control unit based on the result,
The overall calculation unit includes a use arm selection unit that selects which of the right arm and the left arm is used according to weight information corresponding to an object obtained by the image processing unit. A control device for a dual-arm robot. A robot main body, a right arm attached to the right side of the robot main body and capable of operating an object, a left arm attached to the left side of the robot main body and capable of operating an object, the right arm and the left arm A controllable arm control unit, a visual sensor that is mounted substantially in the center of the robot body and can image an object, an image processing unit that processes image information acquired by the visual sensor, and processing of the image processing unit In a control apparatus for a dual-arm robot having an overall calculation unit that transmits a command to the arm control unit based on the result,
The overall calculation unit includes a use arm selection unit that selects which of the right arm and the left arm is used according to designated arm information corresponding to the object obtained by the image processing unit. A control device for a dual-arm robot. A robot main body, a right arm attached to the right side of the robot main body and capable of operating an object, a left arm attached to the left side of the robot main body and capable of operating an object, the right arm and the left arm In a control method of a double-arm robot having a controllable arm control unit,
When the position information of the object with respect to the robot body is acquired and the right arm or the left arm is selected according to the position information, (1) the object is placed on the right side of the robot body. The right arm is selected when positioned, and the left arm is selected when the object is positioned on the left side of the robot body. (2) At the hand position where the right arm and the left arm operate the object. (3) When the operation designated point of the object is located on the right side, the right arm is selected. When the operation designated point is located on the left side, the left arm is selected. (4) If either the right arm or the left arm is set as a dominant arm in advance and the object can be gripped by either the right arm or the left arm, the dominant arm is selected. The method of the double-arm robot, characterized in that to be able to perform at least one of, selectively. A robot main body, a right arm attached to the right side of the robot main body and capable of operating an object, a left arm attached to the left side of the robot main body and capable of operating an object, the right arm and the left arm In a control method of a double-arm robot having a controllable arm control unit,
A control method for a dual-arm robot, wherein weight information corresponding to an object is acquired, and which one of the right arm and the left arm is used is selected according to the weight information. A robot main body, a right arm attached to the right side of the robot main body and capable of operating an object, a left arm attached to the left side of the robot main body and capable of operating an object, the right arm and the left arm In a control method of a double-arm robot having a controllable arm control unit,
A control method for a dual-arm robot, comprising: acquiring specified arm information corresponding to an object, and selecting which of the right arm and the left arm is used according to the specified arm information.

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