| 摘要 |
PROBLEM TO BE SOLVED: To move a manipulator to an object at a high speed, with a high accuracy, and stably as a control system. SOLUTION: The apparatus makes a move control to move a robot arm with a camera mounted thereon, to an object. That is, when the object is not detected, the apparatus executes a teaching playback control to move a manipulator along a route to a target position predetermined based on the position of the object (Step S1). When the object is detected, the apparatus sets a new route to a new target position with a position nearer to the object than the target position as a new target position, and executes the teaching playback control to move the manipulator along the new route until a switching condition to switch the move control is satisfied (Steps S3 and S4). When the switching condition is satisfied, the apparatus executes a visual servo control (Step S5). COPYRIGHT: (C)2011,JPO&INPIT
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