| 摘要 |
PROBLEM TO BE SOLVED: To provide a manipulator with a camera, observing an end effector from a direction suitable for working.SOLUTION: A rotating part 20 rotatable coaxially with the end effector 1 is provided to a link just before the link at the end link equipped with the gripper type end effector 1, and the camera 3 for recognizing a workpiece 4 as a working object is arranged on the rotary part through a camera platform 2. An actuator controlling a rotating angle θc of the rotating part 20 is driven according to a rotating angle θof the link at the end, and thereby the camera 3 is arranged in a direction perpendicular to a movable surface 5 when the end effector 1 performs a grip work. In an assembling work, the rotating part 20 is rotated so that the camera 3 is arranged in a direction parallel to the movable surface 5 of the end effector 1. |
