| 摘要 |
<p>PROBLEM TO BE SOLVED: To make compatible both convergence and stability by using corresponding three-dimensional space information, controlling an objective point so as to conform to a target point by a position base method, switch controlled to a visual sensing servo method in the vicinity of the target point. SOLUTION: In two sets of cameras 1, 2, an object grasped by a manipulator 5 is photographed, in this way, a number n of points in a three-dimensional space are projected by the cameras 1, 2. In an image processing circuit 3, the manipulator 5 is controlled so that an objective point taken in two sets of images is conformed to a target point given on the image. A motion of the manipulator 5 is represented by a coordinate system, to be coordinate changed. The manipulator 5 is controlled by a position base method, but in this method, since an error is generated, when a distance between the target point and the objective point is decreased, the control is switched to control by a visual sensing servo method. The manipulator 5 makes a motion by a plurality of times, by obtaining correspondence to an actual three-dimensional space, unstability is eliminated.</p> |
