Robot having workpiece mass measurement function

A robot having a workpiece mass measurement function for measuring a mass of a workpiece that is held, the robot comprising:

• a force measurement unit that measures a force that is applied to a tip part of a mechanism part of the robot;
• and
• a mass estimation unit that estimates the mass of the workpiece that is held by the robot, based on the force acquired by the force measurement unit while the robot is moving;
• wherein the mass estimation unit comprises an acceleration acquiring unit that measures or estimates acceleration that applies to the tip part of the mechanism part of the robot;
• the mass estimation unit estimates that mass of the workpiece that is held by the robot, based on an equation between the force measured by the force measurement unit while the robot is moving, the acceleration acquired by the acceleration acquiring unit and the mass of the workpiece that is held by the robot;
• the force measurement unit measure the force in a plurality of the directions;
• the acceleration acquiring unit acquired the acceleration in the plurality of directions;
• and
• the mass estimation unit estimates the mass with respect to the plurality of directions, so that an average value of a plurality of masses is made a mass estimation value.