ROBOT WITH MECHANISM FOR CHANGING END EFFECTOR ATTITUDE

摘要

PROBLEM TO BE SOLVED: To provide an end effector controller and a robot that are capable of acquiring attitude information of an end effector when drive of the robot or the end effector is stopped, without using an expensive absolute encoder.;SOLUTION: There is provided is an end effector drive device comprising: driving means for driving an end effector within a three-dimensional space; attitude changing means of the end effector; at least one imaging means disposed for imaging a predetermined range including a movable range of the end effector, when drive of the end effector is stopped; and attitude information acquiring means for acquiring attitude information of the attitude changing means on a two-dimensional plane, on the basis of a two-dimensional image containing a part of an image of the attitude changing means obtained by the imaging means.;SELECTED DRAWING: Figure 1;COPYRIGHT: (C)2017,JPO&INPIT