| 摘要 |
PURPOSE:To obtain common algorithm for correcting the position of a body recognized by an independent visual sensor and a visual sensor integrated with an arm by finding the correlation between the tip position of the arm and the body recognition position of a recognition sensor. CONSTITUTION:When the visual sensor 3 is fixed independently of the arm 10, the sensor detects the position of a mark 6 fitted atop of the arm 10 while the mark is moved together with the arm 10 and the correlation is found by the arm tip position 12 and the body recognition position of the sensor 3. When the sensor 3 is held integrally with the arm 10, the mark 6 is fixed and the sensor 3 detects the position of the mark 6 while the arm 10 is moved to find the correlation between the arm tip position 12 and the body recognition position of the sensor 3. Then the position of the body recognized by the sensor 3 is corrected into the position of the body viewed from the arm tip 12 with respective correlation functions. Consequently, when the sensor 3 is fitted to the arm, algorithm for detecting the displacement of the mark 6 by the coordinate system of a robot side is only added. |
