| 摘要 |
PROBLEM TO BE SOLVED: To provide an assembling device capable of coping with the variation and infinitesimal deformation of a workpiece in being held with a low-priced constitution. SOLUTION: The assembling device includes a manipulator and a viewing device such as a robot and a positioning device. A workpiece with a known shape is photographed from a first viewpoint in a condition of being held by the manipulator, and the position and attitude of the workpiece are measured by making a comparison between a first reference image corresponding to the first viewpoint and the photographed image. The manipulator holding the workpiece is moved to a second viewpoint and photographed based on the position and attitude as an imaging result from the first viewpoint, and the position and attitude of the workpiece are measured by making a comparison between a second reference image corresponding to the second viewpoint and the photographed image. COPYRIGHT: (C)2010,JPO&INPIT
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