| 摘要 |
PROBLEM TO BE SOLVED: To perform component attaching work to which a template image is applied, at high speed.SOLUTION: A robot device includes a template image storage part 22 for storing a template image in a state in which a first gear and a second gear are combined with each other, a robot body for moving the second gear, a captured image obtaining part 21 for obtaining the tracking images of the first gear and the second gear, a test data generation part 25 for generating, from the template image, test data of the number of dimensions equal to the number of dimensions of the aligning space of the second gear with respect to the first gear, a tested data generation part 26 for generating, from the tracking image, tested data of the number of dimensions equal to the number of dimensions of the aligning space of the second gear with respect to the first gear, and a data comparison part 27 and an object movement control unit 24 for calculating similarity between the test data and the tested data, and controlling driving of the robot body to combine the second gear with the first gear when the similarly is largest or exceeds a predetermined threshold value. |
