PURPOSE: To prevent malfunction in grasp controlling by furnishing a comparing means, which compares the work position instructed to a visual sensor with the work position acknowledged by an acknowledging means, and an executing means which executes the exception treatment in case the result from comparison says that the two work positions differ significantly.
CONSTITUTION: An instructing means is furnished to instruct the work 1 position of an object to be grasped to a visual sensor 10, while an acknowledging means is provided to acknowledge the work 1 position of object to be grasped from the image which the visual sensor 10 has obtained. These two pork positions are compared by a comparing means. If the two differ significantly as indicated by the result from comparing, an executing means 11 executes the exception treatment.
SHIBATA MASARU
ISHIHARA KATSUMI
