| 摘要 |
PROBLEM TO BE SOLVED: To realize a position detection device capable of speedily carry out positional detection in high precision by a simple system and to provide a position control device and a robot control device in simple constitution using this. SOLUTION: A robot hand 18 has inclination sensors 31, 32 to detect respective angles of rotation around orthogonal horizontal axes X, Y, three pieces of image recognizing points L1 , L2 , L3 provided on the hand 18, a CCD camera 45 to recognize these image recognizing points in pictures and images and a rotational angle computing means to compute an angle of rotationΔn of a flat surface including the three image recognizing points L1 -L3 around a vertical Z axis orthogonal with the horizontal axes X, Y in accordance with the recognized images by this camera 45, and a position of the hand 18 is detected from a computing result of the computing means and detected angles of rotation of the inclination sensors 31, 32.
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