| 摘要 |
PROBLEM TO BE SOLVED: To improve assembly efficiency by optimizing a photo-opportunity of a camera mounted on a robot arm.SOLUTION: A point F on a finger 4 and a position corresponding to an alignment mark 3a serving as a positional reference of a camera 1 are imaged by the camera 1, and the position of the camera 1 is measured by image processing. When the position of the camera 1 is at a preset position threshold value or lower and moving speed of the camera 1 measured by a velocity sensor 3 mounted on the camera 1 is a preset speed threshold value or lower, a shutter of the camera 1 is released. Furthermore, when moving acceleration of the camera 1 measured as a differential value of the velocity sensor 3 is a preset acceleration threshold value or lower, the shutter is released by taking a logical product. Thus, blurs in the image for searching a workpiece 12 is prevented, thereby reducing positional error, and in addition working efficiency is improved by releasing the shutter earlier. |
