Control device, control system, control method, and recording medium with control program recorded thereon

A control method performed by a computer and comprising:

• calculating a parameter representing transformation between a first coordinate system for image information obtained by capturing an image of a target to be controlled and a second coordinate system that defines an operation of the target to be controlled by using position information representing a position of the target to be controlled in the first coordinate system and position information representing a position of the target to be controlled in the second coordinate system;
• performing a predetermined calculation on the parameter with respect to the position of the target to be controlled in the image information and the position of the target to be controlled based on control information;
• calculating a distribution of the position of the target to be controlled in the first coordinate system and a distribution of the position of the target to be controlled in the second coordinate system;
• calculating the position information of the target to be controlled in the second coordinate system by using image information including the target to be controlled and the calculated parameter;
• and
• controlling the target to be controlled based on the calculated position information of the target to be controlled.

A non-transitory computer-readable recording medium storing a control program executable by a computer to perform processing comprising:

• calculating a parameter representing transformation between a first coordinate system for image information obtained by capturing an image of a target to be controlled and a second coordinate system that defines an operation of the target to be controlled by using position information representing a position of the target to be controlled in the first coordinate system and position information representing a position of the target to be controlled in the second coordinate system;
• performing a predetermined calculation on the parameter with respect to the position of the target to be controlled in the image information and the position of the target to be controlled based on control information;
• calculating a distribution of the position of the target to be controlled in the first coordinate system and a distribution of the position of the target to be controlled in the second coordinate system;
• calculating the position information of the target to be controlled in the second coordinate system by using image information including the target to be controlled and the calculated parameter;
• and
• controlling the target to be controlled based on the calculated position information of the target to be controlled.