ROBOT DEVICE

摘要

PROBLEM TO BE SOLVED: To accurately control a robot arm when a change is caused only in a certain speed component and even if deviation is caused in extracting an image characteristic quantity. SOLUTION: A CCD camera 2 picks up an image of an object 12. A sensor controller 3 extracts the image characteristic quantity F* in a target position to the object 12 on the basis of an image supplied from the CCD camera 2. A robot controller 4 calculates an arm finger speed T on the basis of this image characteristic quantity F* and an image characteristic quantity F extracted in a present position. At this time, the robot controller 4 separately calculates the arm finger speed T as two sets of an xy directional translation speed and a rotating speed around respective axes (txtyωxωyωz) and a z directional translation speed tz.