With an an aging society, service robots are expected to help elderly people with self-support. Service robots working in daily live must handle modifications of the environment, which naturally happens and still finish tasks quickly to satisfy people. In this research, we described a dual arm inverse kinematics with visual feedback mechanism. We solve the issue in a certain quickness using a weighted pseudo inverse matrix and pipeline calculation originated from OpenRTM. The weight helps the stability in standing, while not paying much calculation time. We verified the effectiveness of the proposed method by evaluating stability from divergence of the ZMP.