Patent ID: 7532949
Filing Date: 2009-05-12
Classification: B25J,G01B,G05B

Abstract:
1. A measuring system for measuring a position of a target to be measured relative to a robot having a manipulator, the measuring system comprising: a light receiving device mounted to the manipulator; a control device for positioning the manipulator to an initial position; and an image processing unit for calculating a position of the target on a light receiving surface of the light receiving device imaged on the light receiving surface, the control device comprising: a first arithmetic part for calculating a distance of movement of the manipulator, by means of which the position of the target on the light receiving surface calculated by the image processing unit coincides with a predetermined reference point on the light receiving surface; a drive control part for moving the manipulator according to the distance of movement; a second arithmetic part for calculating at least one of a position and an orientation of a visual line of the light receiving device relative to a robot coordinate, based on position data of the manipulator with respect to a plurality of the initial position; and a third arithmetic part for calculating a three-dimensional position of the target relative to the robot coordinate, based on at least one of the position and the orientation of the visual line.