| 摘要 |
PROBLEM TO BE SOLVED: To normally fit a work to a fitting object by correcting its deviation even if the grasped work is deviated. SOLUTION: This robot device grasps the work 2 by a robot arm 3, moves the robot arm 3 to a position right before fitting the work 2 to the fitting object 4, photographs the work 2 by a CCD camera 16, stores it as a comparison object image, and stores the position of the robot arm 3, which is moved for fitting the work 2 to the fitting object 4, as a target position by relating it to the comparison object image. In a practical work, this robot device grasps the work 2 by the robot arm 3 whose position attitude is controlled by a visual sense feedback control, photographs the grasped work 2 by the CCD camera 16, compares the photographed image with multiple comparison object images, searches the comparison object image according with or adjoining to the photographed image, and moves the robot arm 3 to a target position corresponding to the searched comparison object image. COPYRIGHT: (C)2003,JPO
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