Robotic system, measurement system, control method, and measurement method

Abstract

According to the present invention, a robotic system is configured so as to comprise: a robot capable of connecting and disconnecting any of at least one tool that can be used to perform a process on an object; at least one reference member including at least one tool-stand reference member provided on a tool stand that can hold any of the at least one tool; a measuring device that outputs a measurement result obtained by measuring the position of each tool-stand reference member; and a control device that generates control information to be used for control of the robot on the basis of the measurement result.

Description

Robot system, measurement system, control method, and measurement method

[0001] The present disclosure relates to a robot system, a measurement system, a control method, and a measurement method.

[0002] A system has been proposed in which the position of a part of a robot is measured by a measuring device (see, for example, Patent Document 1).

[0003] International Publication No. 2007 / 002319

[0004] The robot system according to the present disclosure includes a robot capable of connecting and disconnecting any one of at least one tool capable of performing processing on an object, at least one reference member including at least one tool stage reference member provided on a tool stage capable of holding any one of the at least one tool, a measuring device that outputs measurement results obtained by measuring the position of each tool stage reference member, and a control device that generates control information used to control the robot based on the measurement results.

[0005] The robot system according to the present disclosure includes a robot that can connect and disconnect any of at least one tool that can perform processing on an object, at least one reference member including at least one tool reference member provided on any of the at least one tool, a measurement device that outputs measurement results obtained by measuring the position of each tool reference member, and a control device that generates control information used to control the robot based on the measurement results.

[0006] The measurement system according to the present disclosure is a measurement system comprising at least one tool stage reference member provided on a tool stage capable of holding any one of at least one tool, a measurement device that outputs measurement results obtained by measuring the position of each tool stage reference member, and a control device that generates control information based on the measurement results, wherein the tool is connectable to a robot and can perform processing on an object while connected to the robot, and the control information is information used to control the robot.

[0007] The measurement system according to the present disclosure comprises at least one tool reference member provided on at least one tool that is connectable to a robot and that can perform processing on an object while connected to the robot, a measurement device that outputs measurement results obtained by measuring the position of each tool reference member, and a control device that generates control information used to control the robot based on the measurement results.

[0008] The robot system according to the present disclosure includes a robot capable of connecting and disconnecting a tool capable of performing processing on an object, a movable tool stage that holds the tool, a measurement device that outputs measurement results obtained by measuring the respective positions of the tool stage and the robot, and a control device that generates tool stage control information used to control the position of the tool stage based on the measurement results.

[0009] The robot system according to the present disclosure comprises a robot capable of connecting and disconnecting a tool capable of performing processing on an object, at least one reference member including at least one tool stage reference member provided on a tool stage capable of holding the tool, a measurement device that outputs measurement results obtained by measuring the position of each tool stage reference member, and a control device having at least one processor and a memory that stores at least one computer program code, and configured to generate control information used to control the robot based on the measurement results by the at least one processor executing the at least one computer program code.

[0010] The robot system according to the present disclosure comprises at least one tool stage reference member provided on a tool stage that can hold tools that can perform processing on an object while connected to the robot and that can be detached from the robot; a measurement device that outputs measurement results obtained by measuring the position of each tool stage reference member; and a control device that has at least one processor and a memory that stores at least one computer program code, and is configured to generate control information used to control the robot based on the measurement results by causing the at least one processor to execute the at least one computer program code.

[0011] The control method according to the present disclosure includes outputting measurement results obtained by measuring the respective positions of at least one tool stage reference member provided on a tool stage capable of holding any one of at least one tool capable of performing processing on an object, generating control information based on the measurement results to be used for controlling a robot to which the tool can be connected and detached, and controlling the robot in accordance with the control information.

[0012] The control method according to the present disclosure includes outputting measurement results obtained by measuring the position of at least one tool reference member provided on at least one tool, generating control information based on the measurement results to be used for controlling a robot that can connect and disconnect the tool, and controlling the robot in accordance with the control information.

[0013] The measurement method disclosed herein includes outputting measurement results obtained by measuring the respective positions of at least one tool stage reference member provided on a tool stage capable of holding any one of at least one tool capable of performing processing on an object, and generating control information based on the measurement results to be used for controlling a robot to which the tool can be connected and detached.

[0014] The measurement method according to the present disclosure includes outputting measurement results obtained by measuring the position of each of at least one tool reference member provided on at least one tool capable of performing processing on an object, and generating control information based on the measurement results to be used to control a robot to which the tool can be connected and detached.

[0015] The control method disclosed herein includes outputting measurement results obtained by measuring the positions of a tool table capable of holding at least one tool capable of performing processing on an object and a robot to which the tool can be connected and detached, generating control information used to control the position of the tool table based on the measurement results, and controlling the tool table in accordance with the control information.

[0016] 1 is a schematic diagram showing the overall configuration of a robot system; FIG. 2 is a schematic diagram showing the configuration of a measurement device; FIG. 3 is a schematic diagram showing the general configuration of a control device; FIG. 4 is a functional block diagram of a processor included in the control device; FIG. 5 is a flowchart of control information generation processing; FIG. 6 is an example of the positional relationship between a tool stage reference member provided on the tool stage and a tool holding position; FIG. 7 is an example of the positional relationship between a tool stage reference member provided on the tool holder and a tool holding position; FIG. 8 is an example of the positional relationship between tool reference members provided on the tool; and FIG.

[0017] The robot system, measurement system, control method, and measurement method of the present application will be described in detail below with reference to the drawings.

[0018] FIG. 1 is a schematic diagram showing the overall configuration of a robot system.

[0019] In this embodiment, the robot system 100 includes a robot 1, a reference member 2, a measuring device 3, and a control device 4. The robot 1, the measuring device 3, and the control device 4 are communicatively connected via a communication network NW. The communication network NW includes a wired local area network. The communication network NW may also include a wireless local area network, a wireless wide area network, or other communication networks.

[0020] The robot 1 performs predetermined processes on an object, such as various machining processes including cutting, welding, screwing, polishing, and painting, or various measurements of the shape, position, physical properties, electrical properties, etc. An object to be processed by the robot 1 can be referred to as a target object. The robot 1 performs the process on the object by connecting a tool T corresponding to the process. That is, the robot 1 connects a tool T capable of performing a machining process or measurement process on the object and performs the process on the object. The robot 1 is configured to be connectable and detachable to a tool T corresponding to each process in order to perform various processes on the object. For example, the tool T is connected to a movable part 1M of the robot 1. The movable part 1M is a movable part, and the position and posture of the movable part 1M of the robot 1 can change. For example, the movable part 1M can move within a predetermined range based on the position of the robot 1. The robot 1 performs a process on a desired position on the object by moving the movable part 1M to which the tool T is connected. The movable part 1M can also be referred to as a connection part for connecting the tool T.

[0021] In this embodiment, the position may be a coordinate in three-dimensional space measured by the measurement device 3, in other words, a position in a measurement coordinate system by the measurement device 3, and the orientation may be an orientation in each dimension (roll, pitch, yaw). Here, if the measurement coordinate system is a Cartesian coordinate system, the position can be represented by X, Y, and Z in the measurement coordinate system, and the orientation can be represented by θX (rotational position around the X axis), θY (rotational position around the Y axis), and θZ (rotational position around the Z axis).

[0022] The reference member 2 is a member used as a reference for measurement by the measuring device 3. The reference member 2 may be a retroreflective member that reflects light in the direction in which the light is incident. Examples of such retroreflective members include a corner cube reflector and a ball reflector. Note that such a retroreflective member may be configured as a spherically mounted retroreflector (SMR) composed of a metal sphere and a retroreflector embedded therein. The reference member 2 may also be a marker on which a predetermined pattern is displayed. A member having a characteristic point, such as a characteristic shape or pattern, on the object to be measured may also be used as the reference member 2. The reference member 2 can also be referred to as a target member used as a target for measurement by the measuring device 3. Note that the reference member 2 may be at least a portion of the tool table P, at least a portion of the tool holders H1-H3, or at least a portion of the tools T1-T3.

[0023] The measuring device 3 measures the position of the reference member 2, that is, the coordinates of the reference member 2 in a three-dimensional coordinate system determined by the measuring device 3, and outputs the measurement results.

[0024] 2 is a schematic diagram showing the configuration of the measurement device 3. The measurement device 3 has a light source 31, an optical path branching member 32, a mirror 33, and a light receiving element .

[0025] The light source 31 generates, for example, laser light as irradiation light to be irradiated from the measurement device 3 onto the reference member 2. The light source 31 may be an optical comb light source that generates pulsed light including frequency components that are evenly spaced on a frequency axis. At least a portion of the irradiation light generated by the light source 31 passes through the optical path branching member 32 and is irradiated onto the mirror 33. The optical path branching member 32 is a prism having a branching surface that transmits a portion of the incident light and reflects a portion of the light. The optical path branching member 32 may be a half mirror having a branching surface. The mirror 33 reflects at least a portion of the incident light and is supported so that the direction can be changed. The irradiation light reflected by the mirror 33 is irradiated onto the reference member 2.

[0026] The irradiated light irradiated onto the reference member 2 is reflected by a reflecting surface of the reference member 2 in the direction of incidence of the irradiated light. The reflected light reflected by the reference member 2 is incident on a mirror 33, reflected by the mirror 33, and then incident on the optical path branching member 32. A portion of the reflected light incident on the optical path branching member 32 is reflected by the branching surface of the optical path branching member 32 and incident on a light receiving element 34. The light receiving element 34 may be a four-part PSD (Position Sensitive Detector) that detects the position of the incident light based on the output of a photodiode disposed on each of the four divided light receiving surfaces according to the amount of incident light.

[0027] The measuring device 3 can obtain the distance to the reference member 2, for example, by an interferometric method, based on the reflected light received by the light receiving element 34. The measuring device 3 may also obtain the distance to the reference member 2 by a triangulation method. The measuring device 3 determines the position of the reference member 2 based on the distance to the reference member 2 and the angle of the light irradiated onto the reference member 2 by the mirror 33. The measuring device 3 outputs the position of the reference member 2 as a measurement result to the control device 4 via the communication network NW.

[0028] The control device 4 generates control information to be used for controlling the robot 1 based on the measurement results acquired from the control device 4 via the communication network NW. Furthermore, the control device 4 may control the robot 1 in accordance with the generated control information.

[0029] 3 is a schematic diagram showing the general configuration of the control device 4. The control device 4 is a computer having a communication interface 41, a memory 42, and a processor 43.

[0030] The communication interface 41 is an example of a communication unit, and has an interface circuit for receiving data to be processed by the control device 4 or outputting data processed by the control device 4. The communication interface 41 includes, for example, a communication interface circuit for connecting the control device 4 to the communication network NW.

[0031] The memory 42 is an example of a storage unit and includes a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 42 stores various data used in processing by the processor 43, such as measurement results obtained from the measuring device 3 and information related to the positions and number of reference members. The memory 42 also stores various computer program codes 420, such as control computer program codes that execute control processing. The computer program codes 420 provide logic and routines that enable the execution of processing described below.

[0032] The processor 43 is an example of a control unit and includes one or more processors and their peripheral circuits. The processor 43 may further include other arithmetic circuits, such as a logic unit, a numerical calculation unit, or a graphics processing unit. The processor 43 executes the computer program code 420 stored in the memory 42, causing the control device 4 to perform various processes described in this embodiment. As a result, logical functional blocks for executing the operations to be performed by the control device 4 may be realized within the processor 43. In this way, the processor 43 can function as a controller for realizing the logical functional blocks for executing the operations to be performed by the control device 4. In this case, any device (typically, a computer) that executes the computer program 420 can function as the control device 4. At least one of the memory 42 and the processor 43 may be referred to as a control circuit (or circuit).

[0033] FIG. 4 is a functional block diagram of the processor 43 included in the control device 4.

[0034] The processor 43 of the control device 4 has, as functional blocks, a generation unit 431 and a control unit 432. Each of these units in the processor 43 is a functional module implemented by computer program code 420 executed on the processor 43. The computer program code 420 that realizes the functions of each unit in the processor 43 may be provided in a form recorded on a computer-readable medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. Alternatively, each of these units in the processor 43 may be implemented in the control device 4 as an independent integrated circuit, microprocessor, or firmware.

[0035] The generation unit 431 generates control information used to control the robot 1 based on the measurement results obtained from the measurement device 3.

[0036] The control unit 432 transmits a control signal representing control information to the robot 1 via the communication network NW, and controls the robot 1. In the following description, the flowchart in Fig. 5 will be referred to as necessary.

[0037] Returning to FIG. 1 , in the robot system 100, the tool T includes tools T1, T2, and T3. The tools T1, T2, and T3 can be held at predetermined tool holding positions THP1, THP2, and THP3, respectively, by tool holders H1, H2, and H3 provided on the tool table P. That is, the tool table P can hold the tools at each of the tool holding positions THP1, THP2, and THP3. These tool holding positions can be considered to be the positions of the tools when held in the tool holders. For example, the tool holding positions may be set to represent the center position of the connection surface where the tool is connected to the movable part 1M of the robot 1 when the tool is held in the tool holder. In this case, the tool holding position, i.e., the position of the contact portion between the tool and the tool holder when the tool is held in the tool holder, plus an offset between this contact portion and the connection surface, is referred to as the tool holding position. Furthermore, the tools T1, T2, and T3 can be connected to the robot 1 at the movable part 1M of the robot 1. In the robot system 100 in the state shown in Fig. 1, tools T1 and T3 are held at tool holding positions THP1 and THP3, respectively, on the tool table P, and tool T2 is connected to the robot 1. Holding a tool can also be referred to as placing a tool. Note that the robot system 100 may include the tool table P.

[0038] The tools T1, T2, and T3 are tools that perform different processes. At least two of the tools T1, T2, and T3 may be tools that perform the same process. For example, all of these tools may perform cutting work, and the number of times each tool is used may be different, or the degree of the same process (for example, the diameter of a drill or milling cutter, the precision of measurement, etc.) may be different.

[0039] The tool stand P can hold a tool T that can perform processing on an object while connected to the robot 1, when detached from the robot 1.

[0040] Each tool holder has a holding portion for holding a tool, and each holding portion may be configured to hold a specific type of tool or may be configured to hold multiple types of tools.

[0041] For example, the tool holder H2 has a holding portion H2A capable of holding the tool T2. The holding portion H2A is a hole provided in the upper surface of the tool holder H2 and can accommodate an execution portion that executes processing on an object in the tool T2. That is, when the tool T2 is held in the tool holder H2 with the execution portion facing downwards, the holding portion H2A can hold the tool T2 so as to cover at least a portion of the underside of the tool T2. In other words, the holding portion H2A can hold the tool T2 so as to cover at least a portion of the execution portion. Such a holding portion can also be said to be an attachment portion to which the tool is attached from above.

[0042] The holding portion of the tool holder may be capable of holding the tool so as to cover at least a portion of the upper side thereof. In this case, the holding portion may be held by the holding portion so that the working portion of the tool is facing up. Such a holding portion can also be said to be an attachment portion to which the tool is attached from below. Furthermore, the holding portion of the tool holder may be capable of holding the tool so as to cover at least a portion of each of the upper and lower sides thereof. The tool is moved to the tool holding position by sliding it from the front in FIG. 1 relative to such a holding portion. Such a holding portion can also be said to be an attachment portion from which the tool is suspended.

[0043] For example, the tool holder H1 has an opening on the left side surface, and holds a tool by approaching the tool holding position THP1 from the left side. Alternatively, the tool holder H1 can connect the held tool by approaching the tool holding position THP1 from the left side. Therefore, for a tool holder H1 having such a configuration, the control device 4 may generate control information that causes the movable part 1M of the robot 1 to approach from the left side.

[0044] The tool table P has a tool table reference member 2 at a position that has a predetermined positional relationship with the tool holding positions THP1, THP2, and THP3 where the tools T1, T2, and T3 are held. Ｐ１ , 2 Ｐ２ , 2 Ｐ３ The tool base reference member 2 is provided. Ｐ１ , 2 Ｐ２ , 2Ｐ３ is an example of the reference member 2. The positional relationship between the tool holder reference member provided on the tool holder P and the tool holding position is an example of predetermined information related to each tool holding position on the tool holder, and is stored in advance in the memory 42. The positional relationship between the tool holder reference member and the tool holding position can also be called tool holder placement information. The tool holder placement information may be measured in advance by the measuring device 3 or another measuring device, or may be determined from the design information of the tool holder P. Here, the procedure in which the processor 43 reads out the tool holder placement information stored in the memory 42 may also be called acquisition of tool holder placement information (step S101 in FIG. 5).

[0045] 6 shows an example of the positional relationship between the tool holder reference member provided on the tool holder P and the tool holding position. The memory 42 stores the positional relationship 421.

[0046] In the positional relationship 421, each row indicates the relative position (x, y, z) of each tool holding position and other tool stage reference members with respect to the tool stage reference member shown at the left end of the row. The positional relationship 421 is information regarding the relative position of each tool holding position with respect to the tool stage reference member, and corresponds to predetermined information regarding the tool holding position. The relative position is expressed as x (positive on the right) for horizontal displacement when observing the tool stage P from the front in FIG. 1, y (positive on the back side) for displacement in the depth direction, and z (positive on the top side) for displacement in the up-down direction. From the positional relationship 421, for example, it can be seen that the tool holding position THP1 is relative to the tool stage reference member 2 Ｐ１ It can be seen that the tool holder P is located 15 meters to the right, 20 meters to the back, and 20 meters up from the tool holder P. As will be described later, operations such as enlargement / reduction / rotation / translation are applied to the positional relationship 421 to match the measured positions of the tool holder reference members. Therefore, the positional relationship 421 only needs to be obtained by observing the tool holder from the same point for all tool holder reference members included in the positional relationship 421. However, it is preferable that the observation point for the tool holder P is not a point on a line that includes two of the target tool holder reference members or a point on a plane that includes three of the target tool holder reference members. Furthermore, the relative position values ​​only need to be at a constant scale for all tool holder reference members included in the positional relationship 421.

[0047] The measuring device 3 outputs the measurement results obtained by measuring the position of the tool stage reference member (step S102 in FIG. 5). The information on the position of the tool stage reference member included in the measurement results is an example of information about the tool stage obtained based on the measurement results. The control device 4 refers to the positional relationship 421 between the tool stage reference member and the tool holding position stored in the memory 42, and identifies the tool holding position based on the measurement results of the tool stage reference member. In other words, it can be said that the control device 4 identifies each tool holding position based on information about the tool stage. It can also be said that the control device 4 identifies each tool holding position based on information about the tool stage and predetermined information about each tool holding position on the tool stage P. The information about the tool stage may include information about the position and attitude of the tool stage.

[0048] The robot system 100 may have multiple tool mounts. In this case, the positional relationship 421 represents the positional relationship of at least one tool mount reference member for each tool mount. By varying the positional relationship of the tool mount reference member for each tool mount, the tool mount can be identified based on the measurement results. The information about the tool mount may include tool mount identification information. The positional relationship of at least one tool mount reference member for each tool mount can also be called an arrangement pattern.

[0049] The control device 4 identifies the tool holding position based on the measurement results of the tool stage reference member (step S103 in FIG. 5 ). For example, the control device 4 performs operations such as enlarging / reducing / rotating / translating the position of the tool stage reference member represented by the positional relationship 421 so that each measured position of the tool stage reference member corresponds to the positional relationship 421 stored in memory. The control device 4 can identify the tool holding position in the positional relationship 421 when an operation is performed such that the position of the tool stage reference member in the positional relationship 421 best corresponds to the position of the tool stage reference member in the measurement results, as the actual tool holding position. When performing the rotation operation, the control device 4 may rotate the tool stage so as to maintain the horizontality of the tool stage. By adding such restrictions, the number of tool stage reference members required to identify the tool holding position can be reduced.

[0050] The control device 4 generates control information to be used for controlling the robot 1 using the tool holding position identified based on the measurement results of the tool stage reference member (step S104 in FIG. 5). For example, the control device 4 may generate control information for connecting the tool held at the tool holding position identified based on the measurement results to the robot 1. Note that the control information may be a prepared trajectory of the robot 1 that has been corrected based on the measurement results.

[0051] For example, the control device 4 generates control information for causing the robot 1 to move the movable part 1M to a position where it can be connected to the tool T3 and take a posture for connecting the tool T3. In this case, it can be said that the control information includes information about the position or posture of the robot 1.

[0052] The robot 1 may also be held by a mobile vehicle such as an automatic guided vehicle (AGV), a rail guided vehicle (RGV), or an autonomous mobile robot (AMR). In this case, the control device 4 may generate information for moving the robot 1 as control information. The information for moving the robot 1 may be, for example, information for moving the robot 1 to a position where the movable part 1M and the tool T3 can assume a posture that allows them to be connected. For example, if the position of the tool T3 is not within a predetermined range based on the position of the robot 1, the control information may include information for moving the robot 1 so that the position of the tool T3 is within the predetermined range.

[0053] The control device 4 may generate control information for causing the robot 1 to remove the tool T2. The control device 4 may also generate control information for causing the robot 1 to remove the tool T2, and then generate control information for connecting the tool T3 to the robot. The control device 4 may also generate control information for causing the robot 1 to remove the tool T2, and then connect the tool T3 to the robot. The control information for causing the robot 1 to remove the tool T2, and then connect the tool T3 to the robot 1, can also be said to be control information for causing the robot 1 to replace the currently connected tool with a different tool. In this case, the tool T3 is an example of the first tool, and the tool T2 is an example of the second tool. For example, the first tool may be a tool for machining, and the second tool may be a tool for measurement. While the above description describes a case in which the control information is generated sequentially, the control information is not limited to being generated sequentially. For example, the control information may be generated all at once using the measurement results of the tool stage reference member or the results of identifying the tool holding position.

[0054] The control information for removing the tool T2 connected to the robot 1 can also be said to be control information for holding the tool T2 at the tool holding position of the tool T2. When removing the tool T2 from the robot 1 and connecting the tool T3, the position of the tool T3 when it is held by the tool holder H3 is an example of the first holding position, and the position of the tool T2 when it is held by the tool holder H2 is an example of the second holding position.

[0055] The measuring device 3 may output, as measurement results, a first measurement result when the tool T2 is connected to the robot 1 and a second measurement result when the tool T2 is not connected to the robot 1. In this case, the control device 4 may generate control information for causing the robot 1 to remove the tool T2 based on the first measurement result. Furthermore, the control device 4 may generate control information for causing the robot 1 to connect the tool T3 based on the second measurement result.

[0056] At this time, the measuring device 3 measures the position of a certain tool base reference member (for example, tool base reference member 2) as a first measurement result. Ｈ２－１ , 2 Ｈ２－２ ) and output the measurement result obtained by measuring the other tool base reference member (for example, tool base reference member 2 Ｐ１ , 2 Ｐ２ , 2 Ｐ３ The measuring device 3 may output the first measurement result and the second measurement result for the same tool base reference member. In this case, the second measurement result may be for the tool base reference member that has moved after the measurement in the first measurement result.

[0057] When the control device 4 generates control information to cause the robot 1 to remove the tool T2, the control device 4 may generate control information to cause the robot 1 to hold the tool T2 to be removed at any tool holding position. In this case, the control device 4 may determine the tool holding position closest to the tool holding position where the tool T3 connected to the robot 1 is held as the tool holding position for holding the tool T2. The control device 4 may also determine a tool holding position that is predetermined to hold the tool T2 as the tool holding position for holding the tool T2. The control device 4 may also determine a tool holding position where no tool is held as the tool holding position for holding the tool T2. The control device 4 may generate control information to cause the robot 1 to remove the tool T2 after the tool T2 is held on the tool table P, or may generate control information to cause the robot 1 to remove the tool T2 and then hold the tool T2 on the tool table P2.

[0058] A tool connected to the robot 1 may be held at a position different from the tool table P. The position different from the tool table P may be, for example, a tool table different from the tool table P, or a robot different from the robot 1. In this case, the memory 42 stores the relative positional relationship between a tool table reference member provided on the tool table P and a position different from the tool table P where the tool is held. The control device 4 generates control information for connecting the tool to the robot 1 based on the measurement results of the tool table reference member. The control device 4 may also generate control information for causing the robot 1 to remove the tool connected to the robot 1 and then connect a tool held at a position different from the tool table P based on the measurement results of the tool table reference member.

[0059] The tool base reference member may be provided on the tool holder. That is, the reference member 2 may be a tool base reference member 2 provided on the tool holder H1. Ｈ１ and a tool base reference member 2 provided on the tool holder H2. Ｈ２－１ , 2 Ｈ２－２ and a tool base reference member 2 provided on the tool holder H3. Ｈ３－１ , 2 Ｈ３－２ , 2 Ｈ３－３ It can be said that the tool stage reference member provided on the tool holder is provided at a position that has a predetermined positional relationship with the tool holding positions THP1, THP2, THP3 at which the tools T1, T2, T3 are held. Note that when at least one tool stage reference member is provided on the tool holder, the other tool stage reference members may be provided at a portion of the tool stage P that is different from the tool holder.

[0060] The relative position of the tool base reference member with respect to the tool holding position when the tool is held in the tool holder may be determined based on the position of the tool holder. The positional relationship between the tool holding position and the tool base reference member is stored in the memory 42.

[0061] 7 shows an example of the positional relationship between a tool holder reference member provided on the tool holder and a tool holding position. The memory 42 stores the positional relationship 422.

[0062] In the positional relationship 422, each relative position is expressed in the same way as in the above-described positional relationship 421. From the positional relationship 422, for example, the tool holding position THP1 is Ｈ１ It can be seen that it is located 0 to the right, 10 further back, and 10 up.

[0063] For example, when the tool T1 is held by the tool holder H1, the tool table reference member 2 Ｈ１ The relative position of the tool table reference member 2 with respect to the tool T3 when the tool T3 is held by the tool holder H3 may be determined based on the position of the tool holder H1. Ｈ３－１ , 2 Ｈ３－２ , 2 Ｈ３－２ The relative position (side surface in FIG. 1 ) of the tool holder H1 with respect to the position of the tool (tool holding position THP1) when the tool is held by the tool holder H1 may be determined based on the position of the tool holder H3. Ｈ１ and the relative position of the tool holder reference member 2 provided on the tool holder H1 relative to the position of the tool (tool holding position THP3) when the tool is held by the tool holder H3. Ｈ３－１ , 2 Ｈ３－２ , 2 Ｈ３－２ In addition, the number of tool reference members provided in the tool holder H1 is one, which differs from the number of tool reference members provided in the tool holder H3, which is three.

[0064] By determining the relative position of the tool stage reference member based on the position of the tool holder in this way, the control device 4 can refer to the positional relationship 422 between each tool holder and the tool stage reference member stored in the memory 42, and can identify the tool holder to which the tool stage reference member is provided based on the position of the tool stage reference member measured by the measuring device 3. For example, if the position of the tool stage reference member for a certain tool holder is measured as being a side surface, it can be determined that the tool holder is not tool holder H1. In this case, tool holder H1 is an example of a first holder, and tool holder H3 is an example of a second holder.

[0065] Furthermore, the number of tool base reference members provided on a tool holder may be determined based on the position of the tool holder. For example, the number of tool base reference members provided on tool holder H1 may be determined to be 1 based on the position of tool holder H1, and the number of tool base reference members provided on tool holder H3 may be determined to be 3 based on the position of tool holder H3.

[0066] By determining the number of tool stage reference members based on the position of the tool holder in this way, the control device 4 can refer to the number of tool stage reference members for each tool holder stored in the memory 42, and limit the tool holders provided with the tool stage reference members based on the number of tool stage reference members measured by the measuring device 3. For example, if three tool stage reference members are measured for a certain tool holder, it can be determined that the tool holder is not tool holder H1. In this case, tool holder H1 is an example of a first holder, and tool holder H3 is an example of a second holder.

[0067] The tool holder may be provided with at least two tool table reference members. For example, two tool table reference members are provided in the tool holder H2, and three tool table reference members are provided in the tool holder H3. In this case, the relative positions of the tool table reference members may be determined based on the positions of the tool holders. For example, the tool table reference member 2 provided in the tool holder H2 Ｈ２－１ , 2 Ｈ２－２ The relative positions of the tool base reference members provided on tool holder H3 (the two are horizontally aligned) may be determined based on the position of tool holder H2. In this case, the relative positions of the tool base reference members provided on tool holder H3 and the relative positions of the tool base reference members provided on tool holder H2 are different.

[0068] By determining the relative positions of the tool stage reference members based on the position of the tool holder in this way, the control device 4 can refer to the relative positions of the tool stage reference members for each tool holder stored in the memory 42, and can identify the tool holder to which the tool stage reference member is provided based on the relative position of the tool stage reference member measured by the measuring device 3. For example, when two tool stage reference members aligned horizontally are measured for a certain tool holder, it can be determined that the tool holder is tool holder H2.

[0069] The measuring device 3 measures at least one tool base reference member (e.g., tool base reference member 2) as a measurement result. Ｈ２－１ , 2 Ｈ２－２ ) and at least one other tool base reference member (for example, tool base reference member 2 Ｈ３－１ , 2 Ｈ３－２ , 2 Ｈ３－３ ) and output a second measurement result obtained by measuring the tool T2. In this case, the control device 4 generates control information for causing the robot 1 to detach the tool T2 based on the first measurement result. Also, the control device 4 generates control information for causing the robot 1 to connect the tool T3 to the robot 1 based on the second measurement result.

[0070] The reference member 2 may be provided on the tool. That is, the reference member 2 may be a tool reference member 2 provided on the tool T1. Ｔ１ and a tool reference member 2 provided on the tool T2. Ｔ２－１ , 2 Ｔ２－２ and a tool reference member 2 provided on the tool T3. Ｔ３－１ , 2 Ｔ３－２ , 2 Ｔ３－３ The tool on which the reference member 2 is provided may be connected to the robot 1, or may be held at a tool holding position. The measuring device 3 outputs a measurement result obtained by measuring the position of the tool reference member. When the reference member 2 is provided on the tool, the reference member 2 does not have to be provided on a tool base including a tool holder. In this case, the measuring device 3 does not have to output the measurement result of the position of the tool base reference member. Furthermore, the control device 4 may generate control information without using the measurement result of the position of the tool base reference member.

[0071] The control device 4 identifies the position of the tool based on the measurement results of the tool reference member and generates control information using the identified tool position. For example, the control device 4 may generate control information for controlling the robot 1 so that the movable part 1M of the robot 1 approaches the position of a tool held on the tool table P and to be connected to the robot 1. The control information may also be control information for causing the robot 1 to remove a connected tool, or control information for causing the robot 1 to connect a tool held on the tool table P to the robot 1. The control information for causing the robot 1 to remove a connected tool may include information for causing the robot 1 to hold the removed tool at a tool holding position on the tool table P. The control information for causing the robot 1 to remove a connected tool may be control information for moving the robot 1 so that the position of the connected tool and the tool holding position that will hold the removed tool have a predetermined positional relationship. In this case, the tool holding position that will hold the removed tool may be the tool holding position that is closest to the tool holding position that holds the tool that will be connected to the robot 1 after the tool is removed, or may be a tool holding position that is predetermined to hold the tool. The control information for connecting a tool to the robot 1 may include information for moving the robot 1 to a position where the tool can be connected. The control information may also be control information for causing the robot 1 to remove the connected tool and then connect the tool held on the tool stand P to the robot 1. In other words, the control information may be control information for causing the robot 1 to replace the tool.

[0072] After the tool is connected to the robot 1 in accordance with the control information generated by the control device 4, the measuring device 3 may measure the position of the tool reference member provided on the tool and output the measurement result.

[0073] A tool may be provided with at least two tool reference members. For example, tool T2 is provided with two tool reference members, and tool T3 is provided with three tool reference members. The positional relationship between the tool reference members provided on each tool is stored in memory 42.

[0074] 8 shows an example of the positional relationship between tool reference members provided on the tool. The memory 42 stores the positional relationship 423.

[0075] In the positional relationship 423, the positions of the tool reference members are expressed in the same way as in the above-described positional relationship 421. In the positional relationship 423, data of a tool provided with only one tool reference member may be omitted. From the positional relationship 423, for example, in the tool T2, the tool reference member 2 Ｔ２－２ is the tool reference member 2 Ｔ２－２ It can be seen that it is located 2 to the right, 0 further back, and 0 up.

[0076] The relative positions of the tool reference members may be determined based on the position of the tool holder. For example, the tool base reference member 2 provided on the tool holder H2 Ｈ２－１ , 2 Ｈ２－２ Their relative positions (the two aligned horizontally) may be determined based on the position of tool holder H2.

[0077] The control device 4 may determine the position and orientation of the tool based on the measurement results of the tool reference members. For example, the memory 42 stores information that when the connection portion with the robot 1 is placed on top of the tool T2, two tool reference members are arranged horizontally side by side in the side area below the connection portion. The control device 4 references the relative positions of the tool reference members of each tool stored in the memory 42, and determines that the tool T2 is oriented such that its connection portion faces above the detected position of the tool reference member, for example, when the measurement device 3 measures two tool reference members arranged horizontally. In this case, the control device 4 generates control information using the determined position and orientation of the tool.

[0078] The control device 4 may also identify the tool based on the measurement results of the tool reference members. The memory 42 stores information that, when the connection portion with the robot 1 is placed on top of the tool T3, three tool reference members are arranged horizontally in a side area below the connection portion, with two arranged horizontally and one located in the center above them. The control device 4 references the relative positions of the tool reference members for each tool stored in the memory 42, and, for example, when the measuring device 3 measures two tool reference members arranged horizontally and one in the center above them, identifies the tool as tool T3 based on the relative positions of the tool reference members. In this case, the control device 4 generates control information using the tool identification results.

[0079] The reference member 2 may be provided on the robot 1. That is, the reference member 2 may be a robot reference member 2 provided on the robot 1. Ｒ１ The robot reference member 2 may include Ｒ１ is preferably provided on the movable part 1M of the robot 1. The measuring device 3 outputs the measurement results obtained by measuring the position of the robot reference member.

[0080] The control device 4 generates control information further based on the measurement results of the position of the robot reference member. For example, the control device 4 can generate control information for moving the movable part 1M of the robot 1 to a tool holding position where a tool connected to the movable part 1M and to be removed is held, based on the measured position of the robot reference member. In other words, the control information generated further based on the measurement results of the position of the robot reference member may include information about the position of the robot.

[0081] If the robot 1 is provided with multiple robot reference members, the control device 4 can further identify the posture of the robot 1 based on the results of measuring the positions of the robot reference members. That is, the control information generated based on the results of measuring the positions of the robot reference members may include information about the posture of the robot.

[0082] After the tool is connected to the robot 1, the measuring device 3 measures the position of the tool reference member provided on the tool and the robot reference member 2. Ｒ１The control device 4 may output the measurement results obtained by measuring the position of the tool. In this case, the control device 4 can generate information regarding the connection between the tool and the robot 1 based on these measurement results. The information regarding the connection between the tool and the robot 1 is, for example, information indicating whether the tool and the robot 1 are properly connected. The control device 4 can determine whether the tool and the robot 1 are properly connected based on the distance between the tool and the robot 1 calculated based on the measurement results.

[0083] The control device 4 may further generate status information regarding the status of the reference member based on the measurement results. In this case, the control device 4 corrects (changes) the generated control information based on the status information. This allows the robot system 100 to control the robot 1 with higher accuracy.

[0084] The status information may include information about vibration of the reference member. The control device 4 acquires measurement results of the position of the reference member in time series from the measurement device 3, and can generate information about the fluctuation of the reference member from the fluctuation of the position of the reference member represented in the measurement results. The fluctuation of the reference member represents vibration of the tool base P if the reference member is a tool base reference member, of the tool if the reference member is a tool reference member, or of the robot 1 if the reference member is a robot reference member.

[0085] The status information may include information about the temperature around the reference member. The control device 4 acquires measurement results including the amount of infrared light around the reflected light from the measurement device 3, and can generate information about the temperature around the reference member from the amount of infrared light indicated in the measurement results. The temperature around the reference member represents the temperature of the tool base P if the reference member is a tool base reference member, the temperature of the tool if the reference member is a tool reference member, or the temperature of the robot 1 if the reference member is a robot reference member.

[0086] The measurement device 3 may include a first measurement device (not shown) and a second measurement device (not shown) different from the first measurement device. The second measurement device may measure the position of the reference member based on the measurement results of the position of the reference member by the first measurement device and output the measurement results. The reference member measured by the first measurement device and the reference member measured by the second measurement device may be the same or different. The range of measurement by the first measurement device may be wider than the range of measurement by the second measurement device. Furthermore, the accuracy of measurement by the first measurement device may be lower than the accuracy of measurement by the second measurement device. With such first and second measurement devices, it is possible to generate highly accurate measurement results of the position of the reference member by the second measurement device based on the measurement results of the position of the reference member over a wide range by the first measurement device.

[0087] The coordinate system used for the position information output as a measurement result by the measurement device 3 may be the same as or different from the coordinate system used for the operation of the robot 1. If the coordinate systems are different, the control device 4 may convert the coordinate systems to generate control information.

[0088] The tool platform P may be held by a movable vehicle such as an AGV. In this case, the control device 4 may generate tool platform control information used to control the position of the tool platform instead of or in addition to the control information used to control the robot.

[0089] 9 is a flowchart of the control process. The robot system 100 executes the control process for the robot 1 according to the following flowchart. The robot 1 can connect and disconnect any of at least one tool that can perform a process on an object.

[0090] The measuring device 3 of the robot system 100 measures the position of the reference member 2 and outputs the measurement result (step S11).

[0091] Here, the reference member 2 is a tool table reference member provided on a tool table P capable of holding a tool. The reference member 2 may be a tool reference member provided on a tool. The reference member may also be a robot reference member provided on the robot 1.

[0092] Next, the control device 4 of the robot system 100 generates control information based on the measurement results (step S12). Here, the control information is information used to control the robot 1.

[0093] Then, the control device 4 controls the robot 1 in accordance with the control information (step S13), and ends the control process.

[0094] By executing the control process in this manner, the robot system 100 can appropriately control the connection or disconnection of a tool to the robot 1.

[0095] The robot system 100 can also be called a control system that generates a control signal for controlling the robot 1 based on the measurement results of the position of the reference member.

[0096] The robot system 100 can also be called a positioning system that performs a positioning process to identify a destination for connecting or disconnecting a tool in the robot 1 .

[0097] It is also possible to configure the robot system 100 by excluding the robot 1 and including the reference member 2, the measurement device 3, and the control device 4. Such a system can be called a measurement system that measures the position of the reference member 2. Such a system can also be called a control system that generates a control signal for controlling the robot based on the measurement results of the position of the reference member.

[0098] The control device 4 may be configured integrally with the measuring device 3, or may be configured integrally with the robot 1. A device that measures the position of the reference member 2 in the same way as the measuring device 3 and generates control information used to control the robot 1 based on the measurement results in the same way as the control device 4 can appropriately control the connection or disconnection of a tool in the robot 1, similar to the robot system 100 of this embodiment. Furthermore, the control device 4 may execute control to cause the measuring device 3 to perform measurements and output the measurement results.

[0099] The robot system 100 does not necessarily have to have the reference member 2. In that case, the measurement device 3 measures the positions of the tool stage P, which holds a tool and is movable, and the robot 1, which can connect and disconnect a tool, and outputs the measurement results. The control device 4 generates tool stage control information, which is used to control the position of the tool stage P, based on the measurement results.

[0100] It should be noted that the multiple tools connected to the robot 1 may be connected in different attitudes relative to the robot 1. For example, if the tool T1 is a tool that contacts a workpiece to perform processing, such as a drill or a milling cutter, and the tool T2 is an optical processing head (addition or removal), the relationship between the direction in which the execution unit of the tool T1 is directed relative to the orientation of the connection surface with the robot 1 (for example, the direction of the rotation axis of the tool) and the relationship between the direction in which the processing beam from the tool T2 is directed relative to the orientation of the connection surface with the robot 1 may be different.

[0101] Furthermore, it is not necessary for the measuring device 3 to constantly measure the position of the reference member 2. For example, if the reference member 2 falls within the blind spot of the measuring device 3, the trajectory of the robot 1 may be estimated using a detector such as an encoder built into the robot 1 or a detector (for example, a gyro sensor) attached to the outside of the robot, and the robot 1 may be controlled by estimating the trajectory, and when the reference member 2 becomes measurable by the measuring device 3 (when the reference member 2 leaves the blind spot of the measuring device 3), measurement may be resumed and the robot 1 may be controlled.

[0102] The following additional notes are provided regarding the above-described embodiment.

[0103] [Appendix A1] A robot system comprising: a robot to which a tool capable of performing processing on an object can be interchangeably attached; at least one reference member provided on a tool stand capable of holding the tool; a measurement device that measures the position of the reference member; and a control device that generates information used to control the robot based on the measurement results.

[0104] [Appendix A2] The robot system according to Appendix A1, wherein the tool can be held at a tool placement position on the tool table, and the tool placement position is provided at a position that has a predetermined positional relationship with the at least one reference member.

[0105] [Appendix A3] The robot system according to appendix A2, wherein the control device identifies the tool placement position based on the measurement result.

[0106] [Appendix A4] The robot system according to Appendix A3, wherein the tool placement position is identified based on information about the tool base obtained based on a result of the measurement.

[0107] [Appendix A5] The robot system according to claim 3, wherein the tool placement position is obtained based on information about the tool table obtained based on the measurement result and information about the tool placement position on the tool table.

[0108] [Appendix A6] The robot system according to Appendix A5, wherein the information on the tool placement position is information on a relative position between the tool placement position and the reference member on the tool base.

[0109] [Appendix A7] The robot system according to any one of appendices A1 to A6, wherein the tool table has a tool holder capable of holding the tool, and at least one of the reference members is provided on the tool holder.

[0110] [Appendix A8] The robot system according to Appendix A7, wherein the tool base is provided with a plurality of the reference members, at least one of the plurality of reference members is provided on the tool holder, and at least one other reference member is provided on a portion different from the tool holder.

[0111] [Appendix A9] The robot system according to appendix A6 or A7, wherein at least one of the positions and the number of the reference members provided on the tool holder is determined based on the position of the tool holder.

[0112] [Appendix A10] The robot system described in Appendix A6 or A7, wherein the tool holder includes a first holder and a second holder, and a position of the reference member provided in the first holder is different from a position of the reference member provided in the second holder, or the number of the reference members provided in the first holder is different from the number of the reference members provided in the second holder.

[0113] [Appendix A11] The robot system according to appendix A6 or A7, wherein the arrangement of the reference member provided on the tool holder is determined based on the position of the tool holder.

[0114] [Appendix A12] The robot system according to Appendix A6 or A7, wherein the tool holder includes a first holder and a second holder, and an arrangement of the reference members provided in the first holder is different from an arrangement of the reference members provided in the second holder.

[0115] [Appendix A13] The robot system according to any one of Appendices A1 to A12, wherein the control device controls the robot to move based on the measurement result and connect the tool held on the tool rest to the robot.

[0116] [Appendix A14] The robot system described in Appendix A13, wherein the tools include a first tool and a second tool, and the control device moves the robot based on the measurement results, controls the robot to detach the second tool that is different from the first tool and connected to the robot, and then connects the first tool to the robot.

[0117] [Appendix A15] The robot system described in Appendix A14, wherein a plurality of the reference members are provided on the tool base, the measurement results include a first measurement result obtained using at least one of the plurality of reference members and a second measurement result obtained by measuring at least another one of the reference members, the control device acquires the second measurement result after controlling the robot so that the second tool connected to the robot is detached from the robot based on the first measurement result, and the control device controls the robot so that the first tool is connected to the robot based on the second measurement result.

[0118] [Appendix A16] The robot system described in Appendix A14, wherein the measurement results include a first measurement result and a second measurement result, the control device controls the second tool connected to the robot to be detached based on the first measurement result, the measurement device measures a reference member different from the reference member measured in the first measurement result after the second tool is detached from the robot, and obtains a second measurement result, and the control device connects the first tool to the robot based on the second measurement result.

[0119] [Appendix A17] The robot system according to any one of Appendices A14 to A16, wherein the tool table has a plurality of tool placement positions on which the tools are placed, the plurality of tool placement positions including a first placement position, a second placement position, and a third placement position, the first tool is placed at the first placement position, and the control device controls the robot to place the second tool at one of the second placement position and the third placement position that is closest to the first placement position.

[0120] [Appendix A18] The robot system according to any one of Appendices A14 to A16, wherein a mounting position for the first tool and a mounting position for the second tool are predetermined on the tool table, and the control device controls the robot to hold the second tool at the predetermined mounting position for the second tool.

[0121] [Appendix A19] The robot system according to any one of Appendices A1 to A18, wherein the tool is held at a position different from the tool table, and the control device moves the robot based on the measurement results and connects the tool to the robot.

[0122] [Appendix A20] The robot system described in Appendix A19, wherein the tools include a first tool and a second tool, and the control device moves the robot based on the measurement results, controls to detach the second tool different from the first tool connected to the robot, and then connects the first tool to the robot.

[0123] [Supplementary Note A21] The robot system according to any one of Supplementary Notes A1 to A18, wherein the tool is connected to the robot, and the control device controls the robot based on the measurement result to detach the tool from the robot.

[0124] [Appendix A22] The robot system described in Appendix A21, wherein the tool is provided with at least one tool reference member, and the control device controls the robot to detach the tool connected to the robot based on a position of the at least one reference member provided on the tool table and a position of the at least one tool reference member obtained by measurement using the measurement device.

[0125] [Appendix A23] The robot system according to any one of Appendices A14 to A18 and A20, wherein the second tool is provided with at least one tool reference member, the measuring device is capable of measuring the position of the at least one tool reference member, and the control device controls the robot to detach the second tool connected to the robot based on the position of the at least one reference member provided on the tool table and the position of the at least one tool reference member obtained by measurement using the measuring device, and then connects the first tool to the robot.

[0126] [Appendix A24] The robot system according to any one of Appendices A14 to A20, wherein the tool is provided with at least one tool reference member, and the measurement of the position of the at least one tool reference member by the measurement device is performed after the tool is connected to the robot.

[0127] [Appendix A25] The robot system according to any one of Appendices A1 to A13, wherein the tool is provided with at least one tool reference member, and the control device generates information used to control the robot based on a measurement result of the reference member provided on the tool base and a reference member provided on the tool.

[0128] [Supplementary Note A26] The robot system according to any one of Supplementary Notes A21 to A25, wherein the control device identifies the position of the tool based on a measurement result of the tool reference member.

[0129] [Supplementary Note A27] The robot system according to any one of Supplementary Notes A21 to A26, wherein the control device identifies the position and orientation of the tool based on measurement results of at least two tool reference members provided on the tool.

[0130] [Supplementary Note A28] The robot system according to any one of Supplementary Notes A21 to A27, wherein the control device identifies the tool based on measurement results of at least two tool reference members provided on the tool.

[0131] [Appendix A29] A robot system comprising: a robot to which a tool capable of performing processing on an object can be interchangeably attached; at least one tool reference member provided on the tool; a measurement device that measures the position of the reference member; and a control device that generates information used to control the robot based on the measurement results.

[0132] [Supplementary Note A30] The robot system according to Supplementary Note A29, wherein the control device identifies a position of the tool based on the measurement result.

[0133] [Supplementary Note A31] The robot system according to Supplementary Note A29 or A30, wherein the tool includes at least two reference members, and the control device determines the position and orientation of the tool based on measurement results of the at least two reference members.

[0134] [Supplementary Note A32] The robot system according to any one of Supplementary Notes A29 to A31, wherein the tool includes at least two reference members, and the control device identifies the tool based on measurement results of the at least two reference members.

[0135] [Supplementary Note A33] The robot system according to Supplementary Note A32, wherein the tool is identified based on information about the arrangement of the at least two reference members obtained based on the measurement results.

[0136] [Supplementary Note A34] The robot system according to any one of Supplementary Notes A29 to A33, wherein the control device moves the robot based on a result of the measurement and connects the tool to the robot.

[0137] [Appendix A35] The robot system described in Appendix A34, wherein the tools include a first tool and a second tool different from the first tool, the second tool is connected to a robot, and the control device moves the robot based on the measurement result, controls the robot to remove the second tool, and then connects the first tool to the robot.

[0138] [Appendix A36] The robot system described in Appendix A35, wherein the tool stage capable of holding the first tool and the second tool has a plurality of tool mounting positions for holding the tools, and the control device controls the robot to hold the second tool at a tool mounting position among the plurality of tool mounting positions that is closest to the first tool.

[0139] [Appendix A37] The robot system described in Appendix A36, wherein a mounting position of the first tool and a mounting position of the second tool on the tool table are predetermined, and the control device holds the removed second tool at the predetermined mounting position of the second tool.

[0140] [Appendix A38] The robot system according to any one of Appendices A35 to A37, wherein the control device moves the robot so that a tool mounting position for holding the second tool and a position of the second tool attached to the robot have a predetermined positional relationship.

[0141] [Supplementary Note A39] The robot system according to any one of Supplementary Notes A35 to A38, wherein the control device identifies the position of the second tool based on the measurement result.

[0142] [Appendix A40] The robot system described in any one of Appendices A35 to A39, wherein the second tool includes at least two reference members, and the control device determines the position and orientation of the tool based on measurement results of the at least two reference members.

[0143] [Supplementary Note A41] The robot system according to any one of Supplementary Notes A35 to A40, wherein the second tool includes at least two reference members, and the control device identifies the tool based on measurement results of the at least two reference members.

[0144] [Appendix A42] The robot system according to any one of Appendices A35 to A41, wherein the second tool includes at least one reference member, and the control device moves the robot based on a measurement result of the second tool and removes the second tool from the robot.

[0145] [Appendix A43] The robot system according to any one of Appendices A34 to A42, wherein the control device measures the position of the at least one reference member provided on the tool using the measurement device after the tool is connected to the robot.

[0146] [Appendix A44] The robot system according to any one of Appendices A29 to A33, wherein the tool is connected to the robot, and the control device generates information for controlling the robot based on a result of measuring the position of the at least one reference member provided on the tool using the measuring device.

[0147] [Appendix A45] The robot system according to Appendix A44, wherein the control device controls an operation for replacing the tool connected to the robot with another tool based on a result of measuring the at least one reference member provided on the tool.

[0148] [Appendix A46] The robot system according to any one of Appendices A35 to A43, wherein the robot is provided with at least one robot reference member, and the control device measures the at least one tool reference member provided on the tool and the at least one robot reference member provided on the robot using the measurement device after the tool is connected to the robot.

[0149] [Supplementary Note A47] The robot system according to Supplementary Note A46, wherein the control device acquires information about the connection between the first tool and the robot based on a result of measuring the at least one tool reference member and the at least one robot reference member using the measurement device.

[0150] [Appendix A48] The robot system according to any one of Appendices A1 to A47, wherein the robot is provided with at least one robot reference member, and the control device generates information for controlling the robot based on a result of measuring the at least one robot reference member using the measurement device.

[0151] [Appendix A49] The robot system according to any one of Appendices A1 to A48, wherein the control device acquires information about a state of the reference member based on the measurement result, and corrects control information based on the information about the state.

[0152] [Appendix A50] The robot system according to appendix A49, wherein the information about the state includes information about vibration of the reference member.

[0153] [Appendix A51] The robot system according to appendix A49, wherein the information about the state includes information about a temperature around the reference member.

[0154] [Appendix A52] The robot system according to any one of Appendices A1 to A51, wherein the control device acquires information about a state of the tool reference member based on the measurement result, and corrects control information based on the information about the state.

[0155] [Appendix A53] The robot system according to appendix A52, wherein the information about the state includes information about vibration of the tool reference member.

[0156] [Appendix A54] The robot system according to appendix A52, wherein the information about the state includes information about a temperature around the tool reference member.

[0157] [Appendix A55] The robot system according to any one of Appendices A1 to A53, wherein the control device acquires information about a state of the robot reference member based on the measurement result, and corrects control information based on the information about the state.

[0158] [Appendix A56] The robot system according to appendix A55, wherein the information about the state includes information about vibration of the robot reference member.

[0159] [Appendix A57] The robot system according to appendix A55, wherein the information about the state includes information about the temperature around the robot reference member.

[0160] [Appendix A58] The robot system according to any one of Appendices A1 to A54, wherein the information relating to control includes information relating to the position or posture of the robot.

[0161] [Appendix A59] The robot system according to any one of appendices A1 to A28 and A36 to A58, wherein the tool table is placed on a movable body.

[0162] [Appendix A60] The robot system according to any one of appendices A1 to A59, wherein the tool is a tool capable of performing a processing process or a measurement process on the object.

[0163] [Appendix A61] The measurement system described in Appendices A1-A60, wherein the measurement device includes a first measurement device and a second measurement device different from the first measurement device, and the first measurement device measures the position of the reference member based on a position measurement result of the reference member by the second measurement device.

[0164] [Appendix A62] The measurement system described in Appendices A1-A61, wherein the measurement device includes a first measurement device and a second measurement device different from the first measurement device, and the first measurement device measures the position of the tool reference member based on a position measurement result of the tool reference member by the second measurement device.

[0165] [Appendix A63] The measurement system described in Appendices A1-A61, wherein the measurement device includes a first measurement device and a second measurement device different from the first measurement device, and the first measurement device measures the position of the robot reference member based on a position measurement result of the robot reference member by the second measurement device.

[0166] [Appendix A64] The robot system according to any one of Appendices A1 to A63, wherein the measuring device measures the position of the reference member by irradiating a laser beam toward the reference member and receiving the laser beam reflected by the reference member.

[0167] [Appendix A65] The robot system according to any one of Appendices A1 to A63, wherein the measurement device measures the position of the tool reference member by irradiating a laser beam toward the tool reference member and receiving the laser beam reflected by the tool reference member.

[0168] [Appendix A66] The robot system described in any one of Appendices A1 to A63, wherein the measurement device measures the position of the robot reference member by irradiating laser light toward the robot reference member and receiving the laser light reflected by the robot reference member.

[0169] [Appendix A67] A measurement system comprising: at least one reference member connectable to a robot and provided on a tool table capable of holding a tool that can perform processing on an object while connected to the robot; a measurement device that measures the position of the reference member; and a control device that generates information used to control the robot based on the measurement results.

[0170] [Appendix A68] The measurement system according to Appendix A67, further comprising a tool base on which at least one reference member is provided, wherein the control device generates information used to control the robot based on the measurement result.

[0171] [Appendix A69] The measurement system according to appendix A67 or A68, wherein the control device generates control information for moving the robot based on the measurement result and connecting the tool held on the tool table to the robot.

[0172] [Appendix A70] The measurement system described in Appendix A69, wherein the tools include a first tool and a second tool different from the first tool and connected to the robot, and the control device moves the robot based on the measurement results, controls the robot to remove the second tool, and then generates control information to connect the first tool to the robot.

[0173] [Appendix A71] A measurement system comprising: at least one reference member provided on a tool connected to a robot and capable of performing processing on an object; a measurement device that measures the position of the reference member; and a control device that generates information used to control the robot based on the measurement results.

[0174] [Appendix A72] The measurement system according to appendix A71, wherein the control device generates control information for moving the robot based on the result of the measurement and connecting the tool to the robot.

[0175] [Appendix A73] The measurement system described in Appendix A71, wherein the tools include a first tool and a second tool different from the first tool and connected to a robot, and the control device moves the robot based on the measurement results, controls the robot to remove the second tool, and then generates control information to connect the first tool to the robot.

[0176] [Appendix A74] A robot system comprising: a robot to which a tool capable of performing processing on an object can be interchangeably attached; a tool stage capable of holding the tool and moving; a measuring device that measures the position of the tool stage and the position of the robot; and a control device that generates control information for controlling the position of the tool stage based on the measurement results by the measuring device.

[0177] [Appendix A75] A robot system comprising: a robot to which tools capable of performing processing on an object can be interchangeably attached; at least one reference member provided on a tool table capable of holding the tool; a measurement device that measures the position of the reference member; at least one processor; and a memory including at least one computer program code, wherein the at least one memory and the computer program code are configured to control the robot together with the at least one processor, and the processor generates information used to control the robot based on the measurement results.

[0178] [Appendix A76] A measurement system comprising: a robot; at least one reference member provided on a tool stage capable of holding a tool attached to the robot and capable of performing processing on an object; a measurement device that measures the position of the reference member; at least one processor; and a memory including at least one computer program code, wherein the at least one memory and the computer program code are configured to control the robot together with the at least one processor, and the processor generates information used to control the robot based on the measurement results.

[0179] [Appendix A77] The robot system according to any one of Appendices A1 to A76, wherein the tool base includes a mounting portion for mounting the tool, and the tool is mounted on the mounting portion from above.

[0180] [Appendix A78] The robot system according to Appendices A1 to A77, wherein the tool base includes a mounting portion for mounting the tool, and the tool is mounted to the mounting portion from below.

[0181] [Appendix A79] The robot system according to any one of Appendices A1 to A78, wherein the tool base includes a mounting portion for mounting the tool, and the tool is suspended from the mounting portion.

[0182] [Appendix B1] A robot system comprising: a robot capable of performing a predetermined process on an object by being connected to at least one tool; a measuring device that measures the position of each of target members provided at at least one position that has a predetermined positional relationship with the position of the tool placed on a tool table; and a control device that identifies the position of the tool based on the results of the measurement.

[0183] [Appendix B2] The robot system described in Appendix B1, wherein the robot has a connection part configured to be connectable to the tool and movable within a predetermined range based on the position of the robot, and the control device moves the connection part based on the position of the robot and the identified position of the tool so that the identified position of the tool becomes the destination, and connects the tool to the connection part.

[0184] [Appendix B3] The robot system according to Appendix B2, wherein, if the identified position of the tool is not within the predetermined range, the control device moves the robot so that the identified position of the tool is within the predetermined range.

[0185] [Appendix B4] The robot system according to any one of Appendices B1 to B3, wherein at least one of the at least one positions is set on the tool table, and the control device identifies the position of the tool based on the position of the tool table identified as a result of the measurement and predetermined tool table placement information indicating a relative position at which the tool is placed on the tool table.

[0186] [Appendix B5] The robot system described in Appendix B4, wherein the at least one position set on the tool base is set so that the number of positions observable from a first direction is different from the number of positions observable from a second direction different from the first direction.

[0187] [Appendix B6] The robot system according to any one of Appendices B1 to B5, wherein the tool is placed on a tool holder that is installed on the tool table and can hold the tool at a predetermined position and orientation, at least one of the at least one position is set in the tool holder, and the control device identifies the position of the tool based on the position of the tool holder identified as a result of the measurement and predetermined tool holder placement information that indicates the relative position at which the tool is placed in the tool holder.

[0188] [Supplementary Note B7] The robot system according to any one of Supplementary Notes B1 to B6, wherein at least one of the at least one position is set in the tool.

[0189] [Appendix B8] The robot system described in Appendix B6 or B7, wherein the at least one tool includes a plurality of the tools, the plurality of tools each capable of performing a different process are placed on the tool table, the target member is provided at the at least one position for each of the plurality of tools, and an arrangement pattern of the at least one position where the target member is provided differs for each of the plurality of tools.

[0190] [Supplementary Note B9] The robot system according to Supplementary Note B8, wherein the control device identifies one tool from the plurality of tools based on an arrangement pattern configured by the position of at least one of the target members measured by the measuring device.

[0191] [Appendix B10] A plurality of tools including a first tool for executing a first process and a second tool for executing a second process different from the first process are placed on the tool table, the measurement device measures the position of each of target members provided at at least one position that has a predetermined positional relationship with the first tool, the control device specifies the position of the first tool based on a result of the measurement, moves the connection part of the robot to the specified position of the first tool, connects the first tool to the connection part, causes the robot to execute the first process on the object, moves the connection part of the robot to the specified position of the first tool, detaches the first tool connected to the connection part from the connection part and places it on the tool table, the measurement device measures the position of each of target members provided at at least one position that has a predetermined positional relationship with the second tool, the control device specifies the position of the second tool based on the result of the measurement, moves the connection part of the robot to the specified position of the second tool, The robot system according to any one of Appendix B6 to B9, further comprising: connecting the second tool to the connection portion; and causing the robot to perform the second process on the object.

[0192] [Supplementary Note B11] The robot system according to Supplementary Note B10, wherein the first process is measurement and the second process is machining.

[0193] [Appendix B12] The robot system according to any one of appendices B1 to B11, wherein the control device moves the connection portion so that the connection portion approaches the identified position of the tool along a direction in which the connection portion is connected to the tool.

[0194] [Appendix B13] The robot system according to any one of Appendices B1 to B12, wherein the target member is a member that reflects light in the direction in which the light is incident, and the measuring device measures the position of the target member by irradiating laser light toward the target member and receiving the laser light reflected by the target member.

[0195] [Supplementary Note B14] The robot system according to any one of Supplementary Notes B1 to B13, wherein the target member is provided at each of two or more positions each having a predetermined positional relationship with the tool.

[0196] [Appendix B15] A robot system comprising: a robot capable of performing a predetermined process on an object by connecting a tool thereto; a measuring device that measures the position of at least one of the tool placed on a tool stand and the tool stand; and a control device that operates the robot so that the tool is connected to the robot based on a result of the measurement.

[0197] [Appendix B16] A positioning method including: measuring the position of at least one target member provided at each of at least one position that has a predetermined positional relationship with the position of a tool placed on a tool table; and, based on the results of the measurement, identifying a destination position of a connection part of a robot that can perform a predetermined process on an object by connecting the tool to the connection part.

[0198] [Appendix B17] The positioning method according to Appendix B16, further comprising: moving the connection portion to the identified position of the tool; and connecting the tool to the connection portion.

[0199] [Appendix B18] A positioning method including: measuring the position of at least one target member provided at each of at least one position that has a predetermined positional relationship with the position of a tool placed on a tool table; and identifying the position of the tool based on the results of the measurements.

[0200] [Appendix B19] The positioning method described in Appendix B18, further including: moving a connection part of a robot that can perform a predetermined process on an object by connecting the tool to the connection part to the specified position of the tool; and connecting the tool to the connection part.

[0201] It should be understood that those skilled in the art can make various changes, substitutions, and alterations thereto without departing from the spirit and scope of the present disclosure.

[0202] 100 Robot system 1 Robot 2 Reference member 3 Measuring device 4 Control device 431 Generating unit 432 Control unit P Tool table H Tool holder T Tool

Claims

1. A robot to which at least one tool capable of performing processing on an object can be attached and detached, A reference member including at least one tool stand reference member provided on a tool stand capable of holding any of the at least one of the aforementioned tools, A measuring device that outputs measurement results obtained by measuring the position of each tool stand reference member, A control device that generates control information used to control the robot based on the measurement results, A robotic system equipped with the following features.

2. The tool stand is capable of holding each tool in at least one tool holding position, Each tool holding position is provided in a position that has a predetermined positional relationship with respect to each tool base reference member. The robot system according to claim 1.

3. The robot system according to claim 2, wherein the control device identifies each tool holding position based on the measurement results and generates the control information using each identified tool holding position.

4. The robot system according to claim 3, wherein the control device determines the tool holding position based on information about the tool stand obtained based on the measurement results.

5. The robot system according to claim 3, wherein the control device identifies each tool holding position based on information about the tool stand obtained based on the measurement results and predetermined information about each tool holding position on the tool stand.

6. The robot system according to claim 5, wherein the predetermined information relating to the tool holding position is information relating to the relative position of each tool holding position with respect to the tool base reference member.

7. The tool stand has a tool holder capable of holding at least one tool, At least one of the tool stand reference members is provided on the tool holder. The robot system according to claim 1.

8. The tool stand is provided with at least two tool stand reference members. Of the at least two tool base reference members, at least one is provided on the tool holder, and the other at least two tool base reference members are provided on a part of the tool base different from the tool holder. The robot system according to claim 7.

9. The robot system according to claim 7, wherein the relative position of each tool base reference member with respect to the position of the tool when one of the at least one of the tools is held in the tool holder, and at least one of the number of tool base reference members provided in the tool holder are determined based on the position of the tool holder.

10. The tool holder includes a first holder and a second holder. Each of the first holder and the second holder is provided with at least one of the tool base reference members, The relative position of each tool base reference member provided on the first holder with respect to the position of the tool when any of the at least one of the tools is held in the first holder, and the relative position of each tool base reference member provided on the second holder with respect to the position of the tool when any of the at least one of the tools is held in the second holder, and at least one of the number of the at least one tool base reference members provided on the first holder and the number of the at least one tool base reference members provided on the second holder are different. The robot system according to claim 9.

11. The tool holder is provided with at least two of the tool base reference members. The robot system according to claim 7, wherein the relative positions of the at least two tool base reference members are determined based on the position of the tool holder.

12. The tool holder includes a first holder and a second holder. Each of the first holder and the second holder is provided with at least two of the tool base reference members, The relative positions of the at least two tool base reference members provided in the first holder and the relative positions of the at least two tool base reference members provided in the second holder are different. The robot system according to claim 11.

13. The robot system according to claim 1, wherein the control device generates the control information for connecting one of the at least one tools held on the tool stand to the robot, based on the measurement results.

14. The robot system according to claim 13, wherein the control information for connecting any of the at least one tools held on the tool stand to the robot includes the control information for moving the robot.

15. The tool includes a first tool held on the tool stand and a second tool that, unlike the first tool, is connected to the robot. The control device generates control information to cause the robot to remove the second tool based on the measurement results, and then generates control information to cause the robot to connect the first tool. The robot system according to claim 13.

16. The robot system according to claim 15, wherein the control device generates the control information for causing the robot to operate to remove the second tool after the second tool has been held in the tool stand.

17. The robot system according to claim 15, wherein the control device generates the control information for causing the robot to move so that the second tool is removed and then the second tool is held in the tool stand.

18. The control device generates control information to cause the robot to remove the second tool, based on the first measurement result, which is the measurement result when the second tool is connected to the robot. The measuring device outputs a second measurement result, which is the measurement result when the second tool is not connected to the robot. The control device generates the control information for connecting the first tool to the robot based on the second measurement result. The robot system according to claim 15.

19. The tool stand is provided with at least two tool stand reference members. The first measurement result is obtained by measuring at least one of the at least two tool stand reference members, The second measurement result is obtained by measuring at least one of the at least two tool stand reference members, excluding the at least one tool stand reference member. The robot system according to claim 18.

20. The tool stand is capable of holding each tool in at least two tool holding positions, The control device generates the control information to cause the robot to hold the second tool in the tool holding position that is the shortest distance from the tool holding position in which the first tool is held, among the at least two tool holding positions. The robot system according to claim 15.

21. The tool stand is capable of holding each tool in at least one tool holding position, The tool holding position includes a first holding position in which the first tool is held and a second holding position in which the second tool is held. The control device generates the control information for causing the robot to hold the second tool in the second holding position. The robot system according to claim 15.

22. At least one of the aforementioned tools is held in a position different from the tool stand, The control device generates the control information for connecting the tool to the robot based on the measurement results. The robot system according to claim 1.

23. The at least one tool includes a first tool held in a position different from the tool stand, and a second tool that, unlike the first tool, is connected to the robot. The control device generates control information to cause the robot to remove the second tool and then connect the first tool to the robot, based on the measurement results. The robot system according to claim 22.

24. At least one of the aforementioned tools is connected to the robot, The control device generates the control information for causing the robot to remove the tool based on the measurement results. The robot system according to claim 1.

25. The at least one reference member further includes at least one tool reference member provided on the tool, The measuring device further outputs the measurement results obtained by measuring the position of each tool reference member. The control device generates the control information based on the measurement results of the position of each tool base reference member and the position of each tool reference member. The robot system according to claim 1.

26. The at least one reference member further includes at least one tool reference member provided on the second tool, The measuring device further outputs the measurement results obtained by measuring the position of each tool reference member. The control device generates control information for causing the robot to remove the second tool and then connect the first tool to the robot, based on the measurement results of the positions of each tool base reference member and each tool reference member. The robot system according to claim 15.

27. The at least one reference member further includes at least one tool reference member provided on any of the at least one tools, The measuring device further outputs measurement results obtained by measuring the position of each tool reference member provided on the tool after the tool has been connected to the robot. The robot system according to claim 1.

28. The robot system according to claim 25, wherein the control device identifies the position of the tool based on the measurement result of the tool reference member and generates the control information using the identified position of the tool.

29. The at least one reference member further includes at least two tool reference members provided on any of the at least one tools, The control device identifies the position and orientation of the tool based on the measurement results of each tool reference member, and generates the control information using the identified position and orientation of the tool. The robot system according to claim 23.

30. The at least one reference member further includes at least two tool reference members provided on any of the at least one tools, The control device identifies the tool based on the measurement results of the position of each tool reference member, and generates the control information using the results of the identification. The robot system according to claim 23.

31. The robot system according to claim 1, wherein the control device controls the robot using the control information.

32. A robot to which at least one tool capable of performing processing on an object can be attached and detached, A reference member comprising at least one tool reference member provided on any of the at least one of the tools, A measuring device that outputs measurement results obtained by measuring the position of each tool reference member, A control device that generates control information used to control the robot based on the measurement results, A robotic system equipped with the following features.

33. The robot system according to claim 32, wherein the control device identifies the position of the tool based on the measurement results and generates the control information using the identified position of the tool.

34. The tool is provided with at least two of the tool reference members, The control device identifies the position and orientation of each tool based on the measurement results of the position of each tool reference member, and generates the control information using the position and orientation of the tool. The robot system according to claim 32.

35. The tool is provided with at least two tool reference members. The control device identifies at least one tool based on the measurement results of the position of each tool reference member, and generates the control information using the results of the identification. The robot system according to claim 32.

36. The robot system according to claim 35, wherein the control device identifies the tool based on the relative positions of the at least two tool reference members obtained based on the measurement results.

37. The robot system according to claim 32, wherein the control device generates the control information for connecting the tool to the robot based on the measurement results.

38. The robot system according to claim 37, wherein the control information includes information for moving the robot to a position where it can be connected to the tool.

39. The at least one tool includes a first tool and a second tool that, unlike the first tool, is connected to the robot. The control device generates control information to cause the robot to remove the second tool and then connect the first tool to the robot, based on the measurement results. The robot system according to claim 37.

40. The first tool is held in one of the at least two tool holding positions on a tool stand having at least two tool holding positions capable of holding the first tool and the second tool, respectively. The robot system according to claim 39, wherein the control device generates control information to cause the robot to hold the second tool at the tool holding position, of the at least two tool holding positions, that is the tool holding position in which the first tool is held.

41. The robot system according to claim 39, wherein the control device generates control information to cause the robot to hold the second tool in a tool holding position predetermined to hold the second tool, among the at least two tool holding positions on a tool stand having at least two tool holding positions capable of holding the first tool and the second tool, respectively.

42. The robot system according to claim 40, wherein the control device generates the control information for moving the robot such that the position of the second tool attached to the robot and the tool holding position in which the second tool is held among the at least two tool holding positions are in a predetermined positional relationship.

43. The robot system according to claim 39, wherein the control device identifies the position of the second tool based on the measurement results and generates the control information using the identified position of the second tool.

44. The at least one reference member includes at least two of the tool reference members, The second tool is provided with at least two of the two tool reference members, The control device determines the position and orientation of the second tool based on the measurement results of the positions of each tool reference member provided on the second tool, and generates the control information using the determined position and orientation of the second tool. The robot system according to claim 39.

45. The at least one reference member includes at least two of the tool reference members, The second tool is provided with at least two of the two tool reference members, The control device identifies the second tool based on the measurement results of the positions of each tool reference member provided on the second tool, and generates the control information using the results of the identification. The robot system according to claim 39.

46. The second tool is provided with at least one of the at least one tool reference member, The control device generates the control information for removing the second tool from the robot based on the measurement results of the positions of each tool reference member provided on the second tool. The robot system according to claim 39.

47. The robot system according to claim 37, wherein the measuring device outputs the measurement result obtained by measuring the position of each tool reference member after any of the at least one of the tools is connected to the robot.

48. The robotic system according to claim 32, wherein at least one of the tools is connected to the robot.

49. The robot system according to claim 48, wherein the control device generates control information for replacing one of the at least one tools connected to the robot with a different tool based on the measurement results.

50. The aforementioned at least one reference member further includes at least one robot reference member provided on the robot, The measuring device outputs measurement results obtained by measuring the position of each tool reference member and each robot reference member provided on the tool after one of the at least one of the tools is connected to the robot. The robot system according to claim 39.

51. The robot system according to claim 50, wherein the control device generates information regarding the connection between the tool and the robot based on the measurement results of the positions of each tool reference member and each robot reference member provided on the tool.

52. The aforementioned at least one reference member further includes at least one robot reference member provided on the robot, The aforementioned measuring device further outputs the measurement results obtained by measuring the position of each robot reference member. The control device generates the control information based on the measurement results of the position of each robot reference member. The robot system according to claim 1.

53. The robot system according to claim 1, wherein the control device further generates state information relating to the state of the reference member based on the measurement results, and corrects the generated control information based on the state information.

54. The robot system according to claim 53, wherein the state information includes information relating to the vibration of the reference member.

55. The robot system according to claim 53, wherein the state information includes information regarding the temperature around the reference member.

56. The robot system according to claim 1, wherein the control information includes information relating to the position or orientation of the robot.

57. The robot system according to claim 1, wherein the tool stand is held by a movable body.

58. The robot system according to claim 1, wherein the tool is a tool capable of performing processing or measurement on the object.

59. The measuring device includes a first measuring device and a second measuring device different from the first measuring device. The second measuring device outputs a measurement result for the position of any of the at least one reference member based on the measurement result of any of the at least one reference member by the first measuring device. The robot system according to claim 1.

60. The robot system according to claim 1, wherein the measuring device irradiates laser light toward the reference member and measures the position of the reference member by receiving the laser light reflected by the reference member.

61. A tool rest capable of holding at least one of the tools, comprising at least one tool rest reference member, A measuring device that outputs measurement results obtained by measuring the position of each tool stand reference member, A control device that generates control information based on the measurement results, A measurement system comprising, The tool is connectable to a robot and can perform processing on objects while connected to the robot. The control information is a measurement system, which is information used to control the robot.

62. The measurement system according to claim 61, further comprising a tool stand that is provided with at least one tool stand reference member and holds any of the at least one of the tools.

63. The measurement system according to claim 61, wherein the control device generates the control information for connecting one of the tools to the robot based on the measurement results.

64. The at least one tool includes a first tool held on the tool stand and a second tool that, unlike the first tool, is connected to the robot. The control device generates control information to cause the robot to remove the second tool and then connect the first tool to the robot, based on the measurement results. The measurement system according to claim 61.

65. At least one tool reference member provided on any of at least one tools that can be connected to a robot and that can perform processing on an object while connected to the robot, A measuring device that outputs measurement results obtained by measuring the position of each tool reference member, A control device that generates control information used to control the robot based on the measurement results, A measurement system equipped with the following features.

66. The measurement system according to claim 65, wherein the control device generates the control information for connecting the tool to the robot based on the measurement results.

67. The at least one tool includes a first tool and a second tool that, unlike the first tool, is connected to the robot. The control device generates control information to cause the robot to remove the second tool and then connect the first tool to the robot, based on the measurement results. The measurement system according to claim 65.

68. A robot capable of attaching and detaching tools that can perform processing on objects, A tool stand that holds and moves the aforementioned tool, A measuring device that outputs measurement results obtained by measuring the positions of the tool stand and the robot, A control device that generates tool stand control information used to control the position of the tool stand based on the measurement results, A robotic system equipped with the following features.

69. A robot capable of attaching and detaching tools that can perform processing on objects, A tool stand capable of holding the aforementioned tool includes at least one reference member, which includes at least one tool stand reference member. A measuring device that outputs measurement results obtained by measuring the position of each tool stand reference member, A control device having at least one processor and memory for storing at least one computer program code, wherein the at least one processor executes the at least one computer program code to generate control information used for controlling the robot based on the measurement results, A robotic system equipped with the following features.

70. A tool rest provided on a tool rest capable of holding a tool that can perform processing on an object while connected to the robot, while the tool rest is detached from the robot, and A measuring device that outputs measurement results obtained by measuring the position of each tool stand reference member, A control device having at least one processor and memory for storing at least one computer program code, wherein the at least one processor executes the at least one computer program code to generate control information used for controlling the robot based on the measurement results, A robotic system equipped with the following features.

71. The robot system according to claim 1, wherein the tool stand has a holding portion capable of holding the tool so as to cover at least a portion of the lower side of the tool.

72. The robot system according to claim 1, wherein the tool stand has a holding portion capable of holding the tool so as to cover at least a portion of the upper side of the tool.

73. Outputting measurement results obtained by measuring the position of each of at least one tool base reference member provided on a tool base capable of holding at least one tool capable of performing processing on an object, Based on the measurement results, control information is generated to be used to control a robot to which the tool can be attached and detached. Controlling the robot according to the aforementioned control information, A control method including

74. Outputting measurement results obtained by measuring the position of at least one tool reference member provided on at least one of the tools, Based on the measurement results, control information is generated to be used to control a robot to which the tool can be attached and detached. Controlling the robot according to the aforementioned control information, A control method including

75. Outputting measurement results obtained by measuring the position of each of at least one tool base reference member provided on a tool base capable of holding at least one tool capable of performing processing on an object, Based on the measurement results, control information is generated to be used to control a robot to which the tool can be attached and detached. Measurement methods including

76. Outputting measurement results obtained by measuring the position of each of at least one tool reference member provided on at least one tool capable of performing processing on an object, Based on the measurement results, control information is generated to be used to control a robot to which the tool can be attached and detached. Measurement methods including

77. A tool stand capable of holding at least one tool that can perform processing on an object, and outputting measurement results obtained by measuring the position of each of the robots to which the tool can be attached and detached, Based on the measurement results, control information used to control the position of the tool stand is generated, Controlling the tool stand according to the control information, A control method including