| 摘要 |
PROBLEM TO BE SOLVED: To capacitate an operator to properly operate an end effector to a remote objective body for positioning it without resting on eye estimation and experience. SOLUTION: At the time of operating the position and attitude of a manupulator to an objective body O, an end effector 2, where a three- dimensional marker 3 is installed in advance, is set up at a tip of an arm 1, while a stereoscopic camera 4 is previously provided for, and the 3-D marker 3 and the objective body O are photographed by the camera 4 at the same time, and then a featuring point of the objective body O and a position on the faceplate of a reference patter of the 3-D marker 3 are pursued, whereby positioning control over the arm 1 of the manipulator is controlled so as to make a reference coordinate systemΣf optionally selected on the end effector 2 accord with a normal coodinate systemΣB to be defined from the featuring point on the objective body O.
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