| 摘要 |
A number of land marks(20) at the place where the robot is working is installed, the vision system(12) is installed in the robot head(11). When the moving robot stops right on the specific land mark, by using the vision system in the robot head, it reads the land mark and measures the X-axis, Y-axis and the first error value( theta. Xv, theta. Yv, theta. v) of the theta. Since the first error value is the error value about origin point (Oc) of vision system, the second error value( theta Xo, theta Yo, theta o) about the robot center(OR) next changes. Based on the changed second error value, the robot 1-axis about Xo is corrected and then the X and Y-axis' value about theta Yo and theta.o each from that location is corrected. By that, the robot moves to the corrected location and returns the object.
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