Position and orientation measurement apparatus for a plurality of articles and robot system including the position and orientation measurement apparatus

摘要

To provide a position and orientation measuring apparatus capable of accurately measuring the position and orientation of a plurality of articles and a robot including the position and orientation measuring apparatus and the robot, which can accurately perform work of the robot with respect to the article Provide system.A position and orientation measurement device includes a model data storage unit that stores three-dimensional shape data representing a shape of a workpiece as model data, a scene data storage unit that stores scene data and model data stored in a model data storage unit A position and orientation calculation unit 40 that performs detection of each of the plurality of workpieces 16 and calculation of position and orientation by collating with the stored model data and all combinations of the position and orientation calculated by the position and orientation calculation unit 40 , And sends the combination of the position and orientation at which the evaluation value becomes maximum to the robot control device 14 as a measurement result.(FIG.