| 摘要 |
PROBLEM TO BE SOLVED: To perform high-speed and high-accuracy positioning by means of image processing.SOLUTION: A control system executes second control operation after executing first control operation. In the first control operation, image processing means acquires image data to specify a position of a feature part. Control means reduces the speed of an object to a predetermined second speed lower than a first speed after increasing it up to the predetermined first speed, to determine a control command to move to an intermediate target position separated by a predetermined margin distance from a final target position on the basis of the specified position of the feature part. In the second control operation, the image processing means acquires the image data, while a moving mechanism moves, to specify the position of the feature part. The control means determines a control command to position the object at the final target position on the basis of the specified position of the feature part. The margin distance is determined so that the object may not pass through the final target position when the moving mechanism is decelerated from the second speed by the maximum allowable acceleration. |
