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Development of Industrial Dual Arm Robot for Precision Assembly of Mechanical Parts for Automobiles

General industrial robots have definite limits of application because most of them has only one arm. Some special industrial robots have two arms, but each arm does the jobs separately, that is, each arm is controlled to perform its reference trajectory without deep considerations of the cooperative job, so they do very simple cooperative jobs in position level as a result. Recently some Japanese automobile companies are interested in using dual arm robots for assembly of mechanical parts of automobiles of which robots have to have two arms and have the ability of cooperation using position control and force control. We are developing an industrial dual arm robot for precision assembly of mechanical parts for automobiles of which degree of freedom is 6DOF per arm and 3DOF in torso. The payload can be 10kg/arm and the out-reach be 1.5m. This specification was determined for special assembly processes for WIA Co. Ltd and Robot Valley Co. Ltd. The design concept is introduced