Patent ID: 9050728
Filing Date: 2015-06-09
Classification: B25J,Y10S

Abstract:
1. A measurement apparatus for determining a position of a tool center point of a tool, which is attached to a tool attachment surface of an arm tip portion of a robot, with respect to said tool attachment surface, the measurement apparatus comprising: a camera attached to the arm tip portion of said robot; a touch-up point disposed in a working space of said robot; a measurement section for measuring the position of said touch-up point by using said robot and said camera; a measurement result storage section for storing the position of said touch-up point measured by said measurement section; an alignment result storage section for storing a position of said robot when said tool center point is aligned with said touch-up point only once by an operator, who visually moves said robot; and a tool center point position calculation section for calculating the position of said tool center point with respect to said tool attachment surface of said robot by using the position of said touch-up point stored in said measurement result storage section and the position of said robot stored in said alignment result storage section.