| 摘要 |
PROBLEM TO BE SOLVED: To provide a position/attitude controlling method using visual servo capable of enhancing the sensing accuracy of the vertical swing angle and deviational swing angle (attitude angle) of a camera. SOLUTION: The position movement and attitude of a robot body 11 are put under drive control by a control device 12. The CCD camera 15 is fixed to an upper arm 20 of the robot body 11 and photographs a work W. As a reference image, the data of photographing the work W from the reference position is stored previously. The control device 12 controls the position and attitude using the visual servo on the basis of the data consisting of the image photographed by the camera 15 and the reference image. At the stage of convergence, the camera 15 is inclined to over the specified attitude angle and acquires the image data. At this time, an arithmetic operation is made for the error value between the attitude angle in each image and the data of the reference image followed by presumption of the attitude angle when the error value minimizes for determination of the correction value. Thus a high precision control can be established by controlling the position and attitude for the obtained correction amount. |
