POSITION MEASUREMENT SYSTEM, POSITION MEASUREMENT APPARATUS, AND POSITION MEASUREMENT PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a position measurement system, a position measurement apparatus and a position measurement program which calculate the position of a grip part even when an arm part equipped with a label device and a hand part having the grip part for gripping an object to be gripped are bent.SOLUTION: The position measurement system 100 comprises: the label device 1 having first to fourth LEDs 11-14 which is attached to a forearm part 95 connected so as to be bent freely to a hand part 96 having a grip part 96a for gripping one of first to third assembly parts 41-43; an imaging device 2 for imaging the label device 1; a first calculating means 312 for calculating the position and the orientation of the forearm part 95 on the basis of positional relationship between the first to fourth LEDs 11-14 in an image taken by the imaging device 2; and a second calculating means 313 for calculating the position of the grip part 96a on the basis of the position and the orientation of the forearm part 95 calculated by the first calculating means 312 while taking into account bending of the forearm part 95 and the hand part 96 according to the orientation of the forearm part 95.