| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a robot apparatus for automatically executing the fine adjustment after the installation which is capable of accurately correcting the distance from a work object and the inclination of the object without skill of an operator, and correcting the position even when the position of installation of the robot apparatus is largely deviated from the predetermined position. <P>SOLUTION: Finger tips of a manipulator 1 are brought into contact with three contact points 102a, 102b, 102c not on one line on the same plane as a plane 102 on which the work object is installed, the positions of the contact points 102a, 102b, 102c are detected thereby. The inclination and the height position of the plane 102 are measured based on the positions. An image of a marker 103 on the plane 102 is picked up with the optical axis of an image pickup means 6 of the finger tips of the manipulator 1 being orthogonal to the plane 102. The picked-up image of the marker 103 is processed to measure the position and the rotational direction of the marker 103. Then, the manipulator 1 is controlled based on the inclination and the height position of the plane 102, and the position and the rotational direction of the marker 103 on the plane 102. <P>COPYRIGHT: (C)2010,JPO&INPIT</p> |
