| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a projection plane information presentation device and method enabling enlargement and display of a relative position error between a robot hand and an object and thereby enabling accurate positioning of the robot hand relative to the object with visual observation and manual operation. <P>SOLUTION: A projector 22 provided on the robot hand 12 projects an original pattern A onto a projection plane 3 fixed to the object 2 (S1), a camera 24 provided on the robot hand 12 photographs a projection pattern B as the projected original pattern (S2), a photograph pattern C as the photographed projection pattern is deformed to match the original pattern A at a reference position where the robot hand 12 takes a preset position and attitude relative to the object 2 (S3), and a deformed deformation pattern D is superposed on the original pattern A (S5). The (S1)-(S5) are repeated in sequence. <P>COPYRIGHT: (C)2012,JPO&INPIT</p> |
