Detection of Motion Error Under Synchronous Two-Axis Control of a Dual Arm Robot Based on Monitoring of Ball Rolling Motion on a Plate

Dual-arm industrial robots have been gaining attention as novel tools in the field of new automation. We therefore focus on them to flexibly control both the linear motion and the rotational motion of a working plate. However, the difficulty of measuring the synchronous accuracy of two rotary axes without a highaccuracy gyro sensor has been a problem. We therefore propose a novel method of using a ball to measure the synchronous accuracy of two rotary axes of a working plate. The plate uses dual-arm cooperative control to keep the ball rolling in a circular path on it. In this report, we investigate the effects of the rolling friction coefficient of the ball on its sensitivity and resolution to estimate the synchronous accuracy of two rotary axes.