Abstract: A method includes: (a) causing a robotic arm to position a contacting structure of the arm laterally in a horizontal direction in relation to a first subject on a target object; (b) causing the arrn to bring the contacting structure into contact with at least three locations on the first subject; (c) detecting positions of the contacting structure in relation to the robot when contacting the locations; (d) detecting a position of the first subject in relation to the robot by using the detected positions of the contacting structure; (e) performing same steps as the steps (a) to (d) for a second subject on the target object; and (f) detecting a position of the robot in relation to the target object by using the positions of the subjects in relation to the robot and using positions of the subjects in relation to the target object.

Abstract: This apparatus has first and second imaging devices for imaging first and second gears; a robot having the first imaging device; and an image processing system for acquiring a fitting position of a second gear and a phase of a first gear by processing an image of the first imaging device, and for acquiring a phase of the second gear and a position of a gear shaft of the second gear by processing an image of the second imaging device. A gear mechanism is assembled by controlling the robot based on the information acquired by the image processing system so as to position the gear shaft of the second gear held by the hand to a fitting position of the second gear and also position the phase of the second gear to the phase of the first gear. The gear mechanism is easily assembled by fitting gears using the robot.