| 摘要 |
<p>PROBLEM TO BE SOLVED: To improve the working efficiency by matching the axis of tool movement with the optical axis of a camera. SOLUTION: A wrench tool 22 is arranged on a tip of a manipulator 20, the direction of the optical axis of a first monitoring camera 30 is matched with the axis of a tightening part 23, and the coordinate system of the camera is matched with the working coordinate system 37. A second monitoring camera 40 is installed in a place from which the distance between the wrench tool 22 and a nut 38 can be monitored. The image taken by the monitoring cameras is projected on a screen in an operation room, and an operator operates the manipulator 20 watching the screen. In this device, the information on five variables out of six variables to perform the position and orientation matching of the wrench tool 22 with the nut 38 by the image by the first monitoring camera 30 can be recognized. After the operation, the wrench tool is fitted to the nut 38 watching the image from the second monitoring camera 40, and the nut 38 is tightened. The working efficiency can be improved because almost all operations can be performed watching the image from the first monitoring camera 30.</p> |
