Patent ID: 8855824

Claim:
A dual arm robot causing a first arm and a second arm to cooperatively operate, comprising: the first arm including a first hand and a first visual sensor; the second arm including a second hand and a second visual sensor; and a controller, wherein, in an operation for assembling a first workpiece and a second workpiece by using the first arm and the second arm, when the first visual sensor is able to detect the first workpiece and the second visual sensor is able to detect the second workpiece, the first visual sensor detects the first workpiece held by the first arm and the second visual sensor detects the second workpiece held by the second arm, wherein, in the operation, when the first visual sensor is unable to detect the first workpiece, the second visual sensor detects a position coordinate of the first workpiece, or when the second visual sensor is unable to detect the second workpiece, the first visual sensor detects a position coordinate of the second workpiece, and wherein the controller uses a robot coordinate system containing position coordinates of the first and second hands, a first visual sensor coordinate system containing the position coordinate of a workpiece detected by the first visual sensor, and a second visual sensor coordinate system containing the position coordinate of a workpiece detected by the second visual sensor, so that the controller converts the position coordinate of the workpiece from the first and second visual sensor coordinate systems to the robot coordinate system and controls movements of the first and second arms in the operation for assembling the first workpiece and the second workpiece.