Measurement apparatus, control apparatus, and control method

A control device comprising:

• a position determination part that determines a plurality of measurement positions that are positions along a normal direction at each of a plurality of positions to be measured of a workpiece, and a direction of a sensor that measures the workpiece at the plurality of measurement positions, on the basis of at least either design data or captured image data indicating the geometry of the workpiece;
• a moving control part that sequentially moves the sensor to the plurality of measurement positions by controlling a robot that moves the sensor in a three-dimensional space, and
• a measurement control part that outputs measured data indicating a result that the sensor measured at each of the plurality of measurement positions in association with the plurality of positions to be measured.

A control method, performed by a computer, comprising the steps of:

• determining a plurality of measurement positions that are positions along a normal direction at each of a plurality of positions to be measured on a workpiece, and a direction of a sensor that measures the workpiece at the plurality of measurement positions, on the basis of at least either design data or captured image data indicating the geometry of the workpiece;
• sequentially moving the sensor to the plurality of measurement positions by controlling a robot that moves the sensor in a three-dimensional space, and
• outputting measured data indicating a result that the sensor measured at each of the plurality of measurement positions in association with the plurality of positions to be measured.