| 摘要 |
PROBLEM TO BE SOLVED: To improve responsiveness by devising image processing in controlling a robot arm by a visual servo. SOLUTION: This robot control device is composed of a CCD camera mounted to the robot arm; a visual recognition device for processing the photographed image data; and a robot controller for controlling the position attitude of the robot arm on the basis of the position correction quantity from the visual recognition device. The visual recognition device previously stores target data including the feature quantity on the photographed image of the CCD camera in the target position of the robot arm. In actual work, the work is photographed by the CCD camera (S1, S2), and the photographed image data is processed by the visual recognition device to obtain an error with the present data and furthermore with the target data (S5, S6). Control of the position attitude of the robot arm is repeated until the error converges on zero (S7, S8). At this time, if the preceding error is large (S3; N), the resolution of image processing is lowered to reduce the image data quantity to be processed (S5). COPYRIGHT: (C)2003,JPO
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