Robot with camera

Abstract

A shutter chance of a camera mounted on a robot arm is optimized for improving assembling efficiency. An image of a point on a finger and a position of an alignment mark is taken, and a position of the camera is measured by image processing. When the position of the camera is a preset position threshold value or lower, and when a velocity of the camera measured by a velocity sensor is a preset velocity threshold value or lower, a shutter is released. Furthermore, logical AND with another condition that a acceleration of the camera measured as a differential value of the velocity sensor is a preset acceleration threshold value or lower is taken for releasing the shutter. Thus, blur of an image for searching for a work is prevented, a position error is reduced, and working efficiency is improved by releasing the shutter earlier.

Dependencies are inferred from the claim text.