Measurement system, measurement device, measurement method, and measurement program

A measurement device for receiving input information indicating a displacement of a joint of a robot output from a displacement detector and outputting a drive command to a drive configured to drive the joint of the robot, the measurement device comprising:

• a three-dimensional sensor installable on the robot to obtain, by measurement, three-dimensional data indicating three-dimensional coordinates of surface points on a surface of a target object;
• a sensor controller configured to control the three-dimensional sensor to obtain three-dimensional data about the target object by measurement at one or more measurement points;
• an integrator configured to perform three-dimensional integration of three-dimensional data about the target object obtained by measurement before a first operation performed by the robot on the target object and three-dimensional data about the target object obtained by the sensor controller by measurement at the one or more measurement points after the first operation performed by the robot on the target object;
• and
• a robot controller configured to output the drive command for controlling a second operation performed by the robot based on three-dimensional coordinates of the surface points on the surface of the target object indicated by three-dimensional data obtained through the three-dimensional integration.

A measurement method implementable by a measurement device including a three-dimensional sensor installable on a robot to obtain, by measurement, three-dimensional data indicating three-dimensional coordinates of surface points on a surface of a target object, the measurement device being configured to receive input information indicating a displacement of a joint of the robot output from a displacement detector and to output a drive command to a drive configured to drive the joint of the robot, the measurement method comprising:

• controlling the three-dimensional sensor to obtain three-dimensional data about the target object by measurement at one or more measurement points;
• performing three-dimensional integration of three-dimensional data about the target object obtained by measurement before a first operation performed by the robot on the target object and three-dimensional data about the target object obtained by measurement at the one or more measurement points after the first operation performed by the robot on the target object;
• and
• outputting the drive command for controlling a second operation performed by the robot based on three-dimensional coordinates of the surface points on the surface of the target object indicated by three-dimensional data obtained through the three-dimensional integration.