| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a robot system enabling precise attachment work without exchanging hands. <P>SOLUTION: A camera 205 captures an image of an attachment member W1, and at the same time, an imaged of a measurement marker arranged in the hand 203. A feature point position calculating section 102 calculates a plurality of feature point positions K of the attachment member W1 held by the hand 203 based on image data P obtained by the image capturing by the camera 205. A position attitude calculating section 104 calculates a position attitude C of the attachment member W1 based on the information on the respective feature point positions K calculated by the feature point position calculating section 102. A holding position calculating section 106 calculates a holding position J by using the information on the position attitude C calculated by the position attitude calculating section 104. A distance calculating section 108 calculates a distance L between a reference point of a force sensor 204 and the holding position J by using the information on the holding position J calculated by the holding position calculating section 106. Reaction forces Fx, Fy are calculated by using a value of the calculated distance L, and thus, a robot arm 201 is controlled. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
