CONTROL DEVICE, CONTROL SYSTEM, ROBOT SYSTEM, CONTROL METHOD, AND COMPUTER PROGRAM

WIPO Patent Application WO/2023/127021

A1

A control device wherein: on the basis of first image data obtained by imaging of an object by a first imaging device during relative movement between the object and the first imaging device and a second imaging device, calculated is a first position which is in a first coordinate system that is defined by first to third axes and which includes the position of the object in at least at least one of first to third directions that are respectively parallel to the first to third axes, and/or the orientation of the object around at least one of the first to third axes; on the basis of shape data which is generated from second image data that is obtained by imaging of the object by the second imaging device during the relative movement and which indicates the three-dimensional shape of the object, calculated is a second position which is in a second coordinate system that is defined by fourth to sixth axes and which includes the position of the object in at least one of fourth to sixth directions that are respectively parallel to the fourth to sixth axes, and/or the orientation of the object around at least one of the fourth to sixth axes; and a control signal is generated on the basis of the first and second positions and is output at a first period.

HOSOMI KOJI (JP)
SHIGENO HIKARU (JP)
EFTAKHAR ASHIK (JP)
MIYANO MAKITO (JP)
HASEGAWA SATOSHI (JP)
MIMURA KOHEI (JP)
KOYANAGI DAISUKE (JP)
MORINO YUSUKE (JP)
SANO HIDEYUKI (JP)
SHIMIZU HAYATE (JP)

PCT/JP2021/048572

July 06, 2023

December 27, 2021

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NIKON CORP (JP)

B25J13/08

WO2021010181A1

2021-01-21

JP2000288974A	2000-10-17
JP2019119027A	2019-07-22

EGAMI, Tatsuo (JP)

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