Patent Number: 8,577,500

Title: Robot apparatus, position detecting device, position detecting program, and position detecting method

Abstract: A robot apparatus includes: an image pickup device; a goal-image storing unit that stores, according to sensitivity represented by an amount of change of a pixel value at the time when a target aligned with a goal position on an image at a pixel level is displaced by a displacement amount at a sub-pixel level, goal image data in a state in which the target is arranged; and a target detecting unit that calculates a coincident evaluation value of the target on the basis of comparison of image data including the target and the goal image data stored by the goal-image storing unit and detects positional deviation of the target with respect to the goal position on the basis of the coincidence evaluation value.

Inventors: Yamaguchi; Yukihiro (Sendai, JP), Kagami; Shingo (Sendai, JP), Matsunaga; Kenji (Sendai, JP), Hashimoto; Koichi (Sendai, JP)

Assignee: Seiko Epson Corporation

International Classification: G05B 19/00 (20060101); G06K 9/40 (20060101); G06K 9/32 (20060101)

Expiration Date: 1/05/12017