| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To correctly insert/eject a medium 3 to/from a medium keeping cell 2 by detecting a drooping quantity of an arm part 15 and correcting the error amount. <P>SOLUTION: A belt shape pattern reading part 12 reads a belt shape pattern 4 which is attached to the medium keeping cell 2 by an imaging part 17 arranged in a grip part 16. A drooping quantity calculating part 13 measures a deviation from the reference position of a pattern boundary line in a horizontal direction corresponding to the position of the grip part 16 on the arm part 15 based on the read belt shape pattern 4. The drooping quantity of the arm part 15 is calculated based on the deviation. The correction value of the position relative to the drooping quantity is preserved in a correction value storage part 14. A servo control part 11 performs the movement control of the grip part 16 with the use of the correction value. <P>COPYRIGHT: (C)2007,JPO&INPIT</p> |
