Processing apparatus

A processing apparatus comprising:

• an articulated robot having an arm distal-end portion to which a processing tool and a shape measurement unit that is a sensor are attached,
• a workpiece receiving unit which includes a guide and on which a workpiece is placed with movement of the workpiece restricted by the guide, and
• a processor, wherein the processor:
• moves the arm distal-end portion to a specified position measurement point to measure a shape of the workpiece in a workpiece set state in which the workpiece is positioned by the workpiece receiving unit, and thereby recognizes a set position of the workpiece;
• measures the shape of the workpiece using the shape measurement unit to recognize a position of a portion to be processed of the workpiece in partial processing for processing a part of the workpiece and, based on the position of the portion to be processed, generates processing-target-portion information indicating a position of a target portion of the workpiece for the partial processing;
• based on the set position of the workpiece recognized and the processing-target-portion information generated, generates processing-point information indicating a processing point which is a movement point of the arm distal-end portion to perform the partial processing on the workpiece using the processing tool in the workpiece set state;
• and
• moves the arm distal-end portion to the processing point based on the processing-point information to perform the specified processing on the workpiece using the processing tool,
• the shape measurement unit measures a distance between the shape measurement unit and a measurement target at a plurality of distance measurement points within a measurement area in a specified direction,
• the processor calculates group data of length measurement values at a plurality of positions on the workpiece in the specified direction from distance measurement values at the plurality of distance measurement points, the distance measurement values being measured on the workpiece by the shape measurement unit, calculates a plurality of length measurement values on the workpiece in the specified direction within the measurement area, and recognizes the position of the portion to be processed of the workpiece by extracting an end point of the portion to be processed by smoothing the plurality of length measurement values by a moving average method, determining a search range for the position of the portion to be processed based on first-order derivative values of the smoothed length measurement values, and searching the search range for a peak point of second-order derivative values of the length measurement values subjected to the smoothing.