| 摘要 |
<P>PROBLEM TO BE SOLVED: To rapidly perform position control with respect to a noted point detected at any position in an image to be acquired, while securing a wide visual field range by an imaging part with an optical distortion like a wide-angle lens. Ž<P>SOLUTION: A passive multiple-degree-of-freedom system 1 includes: a multi-joint body 4 having multiple links 3 connected by a plurality of passive joints; the imaging part 8 including the wide-angle lens 11 attached to the links 3 of the multi-joint body 4 so as to acquire the image of a subject; an angle sum detecting means 5 for detecting the angle sum of the respective passive joints; and a controller 9 for controlling the posture and position of the imaging part 8. The controller 9 includes: a posture control part 13 for controlling the posture of the imaging part 8, based on the sum of the angles in the respective passive joints detected by the angle sum detecting means 5; and a position control part 14 for controlling the position of the imaging part 8, based on the movement amount of the noted point in the image acquired by the imaging part 8. The position control part 14 changes feedback gain in response to the position of the noted point on the acquired image. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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