US Patent 10108829 Human-centric robot with noncontact measurement device

A system measuring an object with a robot is provided. The robot including a movable end effector, the robot including a plurality of transducers arranged to transmit signals to an electronic circuit, the electronic circuit configured in operation to determine the position and orientation of the end effector. At least one tool is provided that is removably coupled to the end effector. A three-dimensional (3D) scanner is provided that is configured in operation to determine three-dimensional coordinates of a surface of an object, the 3D scanner being removably coupled to the end effector. A controller is configured to selectively couple one of the at least one tool or the 3D scanner to the end effector in response to an object signal.