Robot and control method thereof

A control method of a robot with a plurality of robot arms, each of which has at least one joint unit and a hand, the control method comprising:

• calculating, in advance, a plurality of grasp poses at each of a plurality of predetermined virtual positions of an object to be grasped, and storing the calculated plurality of grasp poses, the predetermined virtual positions being a plurality of position data set along a movable route of the object;
• sensing respective orientations of the object to be grasped, the plurality of robot arms, and an obstacle;
• selecting a grasp pose from among the stored plurality of grasp poses by judging a movable angle range of the at least one joint unit, whether or not the object collides with the obstacle, and self-collision between the robot hands based on the sensed respective orientations;
• and
• generating grasp routes using the selected grasp pose;
• controlling the robot to trace a respective grasp route of the generated grasp routes to thereby grasp the object by the robot with the selected grasp pose;
• wherein the calculating and storing the plurality of grasp poses includes:
• placing the object at the plurality of predetermined virtual positions;
• calculating the plurality of grasp poses at each of the plurality of predetermined virtual positions by calculating solutions to an Inverse kinematic equation to the plurality of robot arms to grasp the object located at the predetermined virtual positions;
• and
• aligning the plurality of Calculated grasp poses in order of naturalness in grasping;
• wherein, in the alignment of the plurality of calculated grasp poses, the plurality of calculated grasp poses is aligned in order of naturalness in grasping in consideration of a distance between the object and the at least one joint unit and a rotation angle of the at least one joint unit.