Patent ID: 9555549
Date: 2017-01-31
CPC Classifications: B25J,G05B,Y10S

Claim:
1. A control device comprising: a camera that captures a plurality of images of a target object, the images being captured multiple times while an end effector of a robot having the target object moves from a first posture to a second posture different from the first posture, the plurality of images including a first image of a first part of the target object and a second image of a second part of the target object, the second part being different than the first part; and a controller that is configured to: wherein the first and second features and the first and second target features correspond to an area, a position, a length, or an inclination of the first and second parts of the target object, the controller is configured to control the end effector by visual servoing so as to move the first part by making the first feature closer to the first target feature according to the first operation information, and the controller is configured to control the end effector by the visual servoing so as to move the second part by making the second feature closer to the second target feature according to the second operation information.