| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot control device which shortens a gripping time required for gripping action and reduces an error of a gripping position proportional to the gripping time when gripping a workpiece during visual servo-control, and to provide a method. SOLUTION: The robot control device includes the visual servo-control for measuring a position and an attitude from the upper side (or lateral direction) of the workpiece 1 by a camera 2b, feedback-controlling a robot 3 based on the measured result and making the camera 2b follow the movement of the workpiece 1; and control point movement control moving a following control point 6 to a position where a steady-state deviation L1 betweem a following point 7 and a work position is compensated during the visual servo-control. After the control point movement control, the workpiece 1 is gripped with a hand 2a. COPYRIGHT: (C)2011,JPO&INPIT |
