| 摘要 |
PROBLEM TO BE SOLVED: To allow visual servo control to be performed without performing prior work irrelevant to primary work for image Jacobian estimation or the like.SOLUTION: A first imaging section 20 and a second imaging section 30 capture images of an attention point X and a target point Y with which the attention point X is coincided from a first direction and a second direction at a previous first time point and a subsequent second time point when the attention point X is moved in a predetermined direction. A distance between the attention point X and the target point Y on the image for each image captured by each of the first imaging section 20 and the second imaging section 30 is calculated. When the distance between the attention point X and the target point Y on each image captured by the first imaging section 20 and the second imaging section 30 at the second time point is smaller than the distance between the attention point X and the target point Y on each image captured at the first time point, a robot 10 is moved in the predetermined direction. When the distance at the second time point is equal to the distance at first time point or more, the robot 10 is moved in a direction different from the predetermined direction. |
