Measurement system and checking method

A measurement system comprising:

• a contact configured to detect roughness of a surface of an object to be measured;
• a hand part to which the contact is attached;
• a robot arm supporting the hand part so as to allow a position and posture of the hand part to be changed;
• a force sensor configured to, when the contact is pressed against the surface of the object to be measured, detect a reaction force from the surface of the object to be measured to the contact;
• and
• a control device including a storage section storing three-dimensional data on a three-dimensional shape of the object to be measured and one or more processors,
• the one or more processors carrying out:
• a route setting process of, on a basis of the three-dimensional data, setting a movement route to be taken by the hand part to cause the contact to follow the surface of the object to be measured in such a manner that the reaction force detected by the force sensor becomes a predetermined value;
• a first acquisition process of actually causing the contact to follow the surface of the object to be measured while adjusting the reaction force detected by the force sensor to become the predetermined value, and acquiring a path taken by the hand part which has actually moved;
• a second acquisition process of acquiring the roughness of the surface of the object to be measured from the contact during a period in which the contact is actually caused to follow the surface of the object to be measured in the first acquisition process;
• and
• a dimension measurement process of measuring a dimension of the object to be measured on a basis of the path and at least one selected from the group consisting of the movement route and the three-dimensional data.