Position and orientation recognition method, parts gripping way, component placement method, parts assembling method, the position and posture recognition apparatus, parts gripping device, component placement equipment, and parts assembly equipment

摘要

PROBLEM TO BE SOLVED: To provide a position/attitude recognition method, capable of highly recognizing positions and attitudes of parts, using a single camera.;SOLUTION: A light spot group, on a body to be measured, including three first light spots placed at positions distant from each other and one second light spot placed at a position distant, in a vertical direction from a reference surface of a triangle with each of the three first light spots as a crest, is photographed with a camera. Based on the position and the diameter of an optical image showing the respective light spots constituting the light spot group on a photographed image obtained by the photographing, the position and attitude of the body to be measured are recognized.;COPYRIGHT: (C)2011,JPO&INPIT