Tool check device, tool check program, and tool check method for robot arm

A tool check program for robot arm,

• configured to cause a computer to implement:
• a movement control step of controlling a robot arm such that a tool to be attached to the robot arm is arranged at a first axis coordinate, of a three-dimensional coordinate system, according to a tool condition concerning at least either of a type or a state of the tool in an inspection space defined as the three-dimensional coordinate system;
• a distribution data acquisition step of acquiring distribution data, of an object in the inspection space, indicated by a combination of a second axis coordinate and a third axis coordinate of the three-dimensional coordinate system, after the movement control step;
• and
• a determination step of determining whether the tool condition is satisfied, based on the distribution data.

A tool check method for robot arm, comprising:

• a movement control step of controlling a robot arm such that a tool to be attached to the robot arm is arranged at a first axis coordinate, of a three-dimensional coordinate system, according to a tool condition concerning at least either of a type or a state of the tool in an inspection space defined as the three-dimensional coordinate system;
• a distribution data acquisition step of acquiring distribution data, of an object in the inspection space, indicated by a combination of a second axis coordinate and a third axis coordinate of the three-dimensional coordinate system, after the movement control step;
• and
• a determination step of determining whether the tool condition is satisfied, based on the distribution data.