PURPOSE: To increase positioning accuracy by providing means for fixing the target position of a control system at the fixed coordinate position in a camera coordinate system after a work enters the visual field of the camera of a visual device and for driving and controlling arm members to eliminate the drift between the target position and the work image position.
CONSTITUTION: After a work Wk enters the visual field of a camera 7, the center position of the work Wk grasped by the camera 7 is inputted to a controller 9 from an image processor 8 as feedback information. The drift between the center position of the work Wk and the target position determined by the prescribed positional relation is obtained by a first arithmetic means on the coordinate system of a visual device. The calculated result by the first arithmetic means is converted into the prescribed quantity on the coordinate system for driving the arm members 11, 12 of a robot 1 by a second arithmetic means, the arm members 11, 12 are driven and controlled based on the prescribed converted quantity, and an end effector (hand) 14 is positioned to a target position at a high speed with high accuracy.
SHOJI KAZUAKI
KARASHIMA MEGUMI
