| 摘要 |
PROBLEM TO BE SOLVED: To provide a positioning method for accurately positioning of an end effector E to pollen by moving the end effector not having restriction to a shape. SOLUTION: This positioning method includes: a procedure (a) of photographing an original image including the pollen P and the end effector E movable in a depth direction to the pollen P; a procedure (b) of creating a difference image based on two binarized images obtained by applying two different threshold values to the original image; and a procedure (e) of moving the end effector E toward a first processed body based on an approximate expression: Dz=aRt<SP>b</SP>+c (a, b: constants, b: a correction term) indicating relation between Rt that is a ratio between a thickness Tp1 and a thickness Te1, and a movement distance Dz in the depth direction of the end factor E, wherein the thickness of a difference area with respect to the pollen P is represented by Tp1 and the thickness of a differnce area with respect to the end effector E is represented by Tel. COPYRIGHT: (C)2011,JPO&INPIT |
