ROBOT HAND POSITION MEASURING DEVICE

摘要

PROBLEM TO BE SOLVED: To improve the position measuring accuracy of a robot hand. SOLUTION: A spot light source installed at the tip of a robot hand is photographed with a pair of read binoculars installed in difference places from each other so that it can change the image pickup directions of the read binoculars, respectively, along azimuth and elevation directions. The image pickup direction of each read binoculars is changed along the azimuth and elevation directions so that the center of gravity of the spot light source area in the image obtained by image pickup can agree with the center of the image (so that the image pickup direction can agree with the spot light source direction). When these centers agree with each other, three-dimension coordinates at the tip of the robot hand is calculated from the azimuth and elevation directions. When the center of gravity disagree with the center of the image as (A) shows, the value of the angle at the time of the image pickup direction agreeing with the direction of the spot light source is calculated by interpolation as (B) shows.