Patent ID: 11964396
Assignee: FANUC CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B  G  Y | IPC B

Claim 0:
1. A method of acquiring a deviation amount of a working position of a tool with respect to a target position on a workpiece when performing a work on the target position by the tool moved by a movement machine, the method comprising:
controlling, via a processor, the movement machine and the tool in accordance with a work program;
imaging the target position by a camera arranged in a predetermined positional relationship with the tool at a first time point when the processor causes the tool to perform an operation for the work, the first time point being a time point when the processor transmits a command for causing the tool to perform the operation in accordance with the work program, or a time point when a predetermined time elapses from the time point when the processor transmits the command; and
acquiring a deviation amount between the working position and the target position at the first time point, based on a position of the target position in image data imaged by the camera and on information indicating a position of the working position in the image data.