Patent ID: 6970802
Filing Date: 2005-11-29
Classification: B25J,G01B,G05B

Abstract:
1. A three-dimensional measuring device for measuring a position/orientation of an object using a three-dimensional visual sensor mounted on a robot, comprising: storing means for storing a target relative measurement position/orientation of the visual sensor and the object in advance; control means for controlling the robot to position the visual sensor at a preparatory measurement position/orientation where a preparatory measurement is performed by the visual sensor to obtain a relative position/orientation of the visual sensor and the object; and determining means for determining a main measurement position/orientation of the visual sensor at which a relative position/orientation of the visual sensor and the object coincides with the target relative measurement position/orientation based on the relative position/orientation obtained by the preparatory measurement and the target relative measurement position/orientation stored in said storing means, wherein said control means controls the robot to position the visual sensor at the main measurement position/orientation determined by said determining means where a main measurement is performed by the visual sensor to obtain a relative position/orientation of the visual sensor and the object.