| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To obtain the rotational angle of an arm from a photographed image through a simple image analysis, and to determine whether the rotational position is normally detected by comparing the obtained rotation angle with the rotation angle of the arm obtained from the rotation angle of a motor. <P>SOLUTION: Images of markers 19-21 attached to predetermined arms 4-6 are picked up by a camera. The rotation angles of the arms 4-6 are computed from the shapes, sizes or the directions of the photographed images of the markers 19-21, and the computed rotation angles are compared with the rotation angles of the arms 4-6 obtained from the rotation angle of a motor for driving the arms 4-6 to detect whether the rotational position is normally detected by the result of comparison. The rotation angles of the arms 4-6 are computed from the shapes, sizes or the directions of the photographed images of the markers 19-21, dispensing with any sophisticated computation. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
