A system measuring an object (56) with a human-centric robot (24) is provided. The robot including a movable end effector (40) having a coupler (42), the robot including a plurality of transducers (46) arranged to transmit signals to an electronic circuit, the electronic circuit configured in operation to determine the position and orientation of the end effector (40). At least one tool (52) is provided having a first gripping portion, the gripping portion being sized and shaped to removably couple to the coupler (42). A three-dimensional (3D) scanner (54) is provided that is configured in operation to determine three-dimensional coordinates of a surface of an object (56), the 3D scanner (54) having a second gripping portion sized and shaped to removably couple to the coupler (42). A controller (32) is configured to selectively couple one of the at least one tool (52) or the 3D scanner (54) to the coupler (42) in response to an object signal.
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