Patent ID: 7161321

Claim:
A measuring system comprising: a robot with a tool mounted at the forward end of an arm thereof; a light-receiving device; a means to set the robot in an initial position; a means in which the center point of the tool mounted at the forward end of the arm of the robot is caught by the light-receiving device thereby to determine the position, on a light-receiving surface of the light-receiving device, of the tool center point with the image thereof focused on the light-receiving surface; a means to determine the movement to be covered by the robot in such a manner that the position of the tool center point on the light-receiving surface is moved to a predetermined point on the light-receiving surface; a means to move the robot by the determined movement to be covered; a means to obtain and store the position of the robot after the robot is moved; and a means in which, in the presence of a plurality of initial positions, the position of the tool center point with respect to the tool mounting surface of the robot is determined using the position of the robot moved and stored for each initial position, while the position of the light-receiving device is fixed.