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Dual-arm robots have been attracting attention in recent years as one of the technologies to solve the problems of a shrinking workforce and declining labor productivity. Dual-arm robots can perform complex movements that are difficult for single-arm robots to perform and are expected to achieve efficient and precise production through cooperative movements of the dual arms. However, a universal method for evaluating synchronization errors in cooperative movements has not yet been developed. In this study, we proposed a method to measure the synchronization error of dual-arm robots by attaching lasers to both arms of the robot and visually tracking laser-irradiated points. By applying this method to the cooperative motion of a dual-arm SCARA robot in the frequency response of a circular trajectory in the horizontal plane, we evaluated the synchronization error of the dual-arm robot. It was found that differences in the manipulability of the arms may affect synchronization error.

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Investigation of Synchronizing Error of Master-Slave Controlled Dual-Arm SCARA Robot by Visual Tracking of Laser Irradiated Point

  • 会议论文

  • 发表日期：

    2026年

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  • Yuiga Wada,
  • Shintaro Yamashita,
  • Toshiki Hirogaki,
  • Masao Nakagawa

摘要

Dual-arm robots have been attracting attention in recent years as one of the technologies to solve the problems of a shrinking workforce and declining labor productivity. Dual-arm robots can perform complex movements that are difficult for single-arm robots to perform and are expected to achieve efficient and precise production through cooperative movements of the dual arms. However, a universal method for evaluating synchronization errors in cooperative movements has not yet been developed. In this study, we proposed a method to measure the synchronization error of dual-arm robots by attaching lasers to both arms of the robot and visually tracking laser-irradiated points. By applying this method to the cooperative motion of a dual-arm SCARA robot in the frequency response of a circular trajectory in the horizontal plane, we evaluated the synchronization error of the dual-arm robot. It was found that differences in the manipulability of the arms may affect synchronization error.