Robot, robot control apparatus and robot system

1. A robot comprising:

a movable member;

a camera that is disposed on the movable member, the camera being configured to capture first and second images, each of the first and second images including a first marker on an object;

a memory configured to store programs; and

a CPU configured to execute the programs so as to:

control a position and an attitude of the movable member to be set as first position and attitude;

cause the camera to capture the first image when the movable member is set at the first position and attitude;

determine a first location of the first marker in the first image;

control the position and the attitude of the movable member to be set as second position and attitude that are different from the first position and attitude;

cause the camera to capture the second image when the movable member is set at the second position and attitude;

determine a second location of the first marker in the second image; and

cause the movable member to perform an action based on the first and second locations of the first marker in the first and second images;

wherein when the movable member is set at the first position and attitude and the second position and attitude, distances between the camera and the first marker are the same.

2. The robot according to claim 1 ,

wherein the position and the attitude of the movable member change to the second position and attitude obtained using a third image captured by the camera when the movable member moves from the first position and attitude to third position and attitude.

3. The robot according to claim 1 ,

wherein an optical axis on which the first image is captured by the camera at the first position and attitude and an optical axis on which the second image is captured by the camera at the second position and attitude are parallel to each other.

4. The robot according to claim 1 ,

wherein an optical axis on which the first image is captured by the camera at the first position and attitude and an optical axis on which the second image is captured by the camera at in the second position and attitude are non-parallel to each other.

5. The robot according to claim 1 ,

wherein the CPU is further configured to:

control the position and the attitude of the movable member to be set as third position and attitude;

cause the camera to capture a third image when the movable member is set at the third position and attitude, the third image including a second marker;

determine a third location of the second marker in third image; and

cause the movable member to perform the action based on the first and second locations of the first marker in the first and second images and the third location of the second marker in the third image.

6. The robot according to claim 5 ,

wherein a control point is set on the movable member, and

when the movable member is set at the first position and attitude and the third position and attitude, distances between a plane containing the first marker and the second marker and the control point of the movable member are the same.

7. A root comprising:

a movable member on which a control point is set;

a camera that is disposed on the movable member, the camera being configured to capture first and second images, each of the first and second images including a first marker on an object;

a memory configured to store programs; and

a CPU configured to execute the programs so as to:

control a position and an attitude of the movable member to be set as first position and attitude;

cause the camera to capture the first ma e when the movable member is set at the first position and attitude;

determine a first location of the first marker in the first image;

control the position and the attitude of the movable member to be set as second position and attitude that are different from the first position and attitude;

cause the camera to capture the second image when the movable member is set at the second position and attitude;

determine a second location of the first marker in the second image; and

cause the movable member to perform an action based on the first and second locations of the first marker in the first and second images,

wherein when the movable member is set at the first position and attitude and the second position and attitude, distances between the camera and the control point of the movable member are the same.

8. A robot comprising:

a movable member;

a camera that is disposed on the movable member, the camera being configured to capture first and second images, each of the First and second images including a first marker on an object;

a memory configured to store programs; and

a CPU configured to execute the programs so as to:

control a position and an attitude of the movable member to be set as first position and attitude;

cause the camera to capture the first image when the movable member is set at the first position and attitude;

determine a first location of the first marker in the first image;

control the position and the attitude of the movable member to be set as second position and attitude that are different from the first position and attitude;

cause the camera to capture the second image when the movable member is set at the second position and attitude;

determine a second location of the first marker in the second image; and

cause the movable member to perform an action based on the first and second locations of the first marker in the first and second images,

wherein a position of the first marker in the second image corresponds to a position of the first marker in the first image.

9. The robot according to claim 8 ,

wherein the position of the first marker in the first image is a center position in the first image, and

the position of the first marker in the second image is a center position in the second image corresponding to the center position in the first image.