| 摘要 |
PROBLEM TO BE SOLVED: To restore an original image that does not deteriorate from a PSF estimated from a marker copied into a deteriorated image to conduct positioning of a robot. SOLUTION: A robot system 5 includes a robot 10 having an arm 17; a reference pattern 150, disposed near a workpiece 130 which is a move destination of the arm 17; a digital camera 20, disposed on the arm 17 for outputting a deteriorated photographed image that reflects the reference pattern 150 as a trajectory image by photographing, while the arm 17 is moving, the photographed image combining the workpiece 130 and the reference pattern 150 together; a reference pattern extracting section 104 for extracting the trajectory image out of the photographed image; an image restoration section 106 for restoring the nondeteriorated image through conversion by using the extracted trajectory image as the PSF; a position calculating section 110 for calculating a position of the workpiece 130 based on a restored image; and a robot operation control section 115 for controlling the robot, to make it move the arm 17 based on the calculated position. COPYRIGHT: (C)2010,JPO&INPIT
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