Control system and control method

A control system comprising:

• an image processing section configured to obtain image data obtained by imaging an object provided with a characteristic part for positioning and specify a position of the characteristic part comprised in the image data;
• and
• a control section configured to position the object to a predetermined final target position by giving a control instruction based on the specified position of the characteristic part to a moving mechanism which changes the position of the object,
• wherein the control system executes a first control operation, and then executes a second control operation, the control system switches the first control operation to the second control operation without stopping movement of the object,
• in the first control operation, the image processing section obtains the image data and specifies the position of the characteristic part, the control section determines a control instruction for accelerating the object to a predetermined first speed based on the specified position of the characteristic part and then decelerating the object to a predetermined second speed lower than the first speed, to move the object to an intermediate target position away from the final target position by a predetermined margin distance,
• in the second control operation, the image processing section obtains the image data during movement of the moving mechanism and specifies the position of the characteristic part, and the control section determines a control instruction for positioning the object to the final target position based on the specified position of the characteristic part, and
• the margin distance is determined such that the object does not pass the final target position when the speed of the moving mechanism is decreased from the second speed at an allowable maximum acceleration.