Robot installation position measurement device, installation position measurement method, robot controller, teaching system, and simulator

A robot installation position measurement method comprising:

• positioning a robot in two or more poses;
• acquiring first position information, which is a three-dimensional command position of a tool center point fixed with respect to a flange at a tip of the robot, for each of the poses;
• acquiring, by a predetermined three-dimensional measurement instrument installed with a predetermined measurement coordinate system, second position information which is a three-dimensional actual position of the tool center point, for each of the poses;
• and
• conducting correction of a robot coordinate system, with which the robot operates, such that difference between pieces of the acquired first position information and pieces of the second position information becomes small.

A simulator capable of creating an operation program offline based on a three-dimensional model of a robot, the simulator comprising:

• a model display part capable of displaying the three-dimensional model of the robot;
• a receiving unit capable of receiving error information representing an error of a robot coordinate system;
• and
• an updating unit that updates at least one of the display of the three-dimensional model on the model display part and the operation program based on the error information by applying the error information to the three-dimensional model displayed on the model display part.