Encoder, robot, and printer

Abstract

An encoder includes a base portion, a scale portion that is provided to be relatively movable or rotatable with respect to the base portion, and has three or more marks which are different from each other, an imaging element that is disposed in the base portion, and images the marks, and an estimation portion that selects at least one reference image from among three or more reference images, performs template matching on a captured image in the imaging element by using the reference image, so as to detect positions of the marks, and estimates a movement state or a rotation state of the scale portion with respect to the base portion, in which the estimation portion predicts a reference image to be used for post-template matching on the basis of a result of pre-template matching, and performs the post-template matching by using the predicted reference image.

Dependencies are inferred from the claim text.