Tool checking device, storage device storing tool checking program, and tool checking method for robot arm

A storage device storing a tool checking program for a robot arm, the tool checking program being configured to cause a computer to execute:

• a tool movement control step of controlling the robot arm so as to move a tool attached to the robot arm to a defined position;
• an imaging control step of controlling an imaging device so as to capture an image of the tool moved to the defined position;
• and
• a determination step of determining whether the tool satisfies a tool condition regarding a tool type or tool state that needs to be satisfied, on the basis of a captured image imaged by the imaging device.

A tool checking method for a robot arm, comprising:

• a tool movement control step of controlling the robot arm so as to move a tool attached to the robot arm to a defined position;
• an imaging control step of controlling an imaging device so as to capture an image of the tool moved to the defined position;
• and
• a determination step of determining whether the tool satisfies a tool condition regarding a tool type or tool state that needs to be satisfied, on the basis of a captured image imaged by the imaging device.