{
  "abstract": "A tool checking device for a robot arm includes: a tool movement control unit configured to control the robot arm so as to move a tool attached to the robot arm to a defined position; an imaging control unit configured to control an imaging device so as to capture an image of the tool moved to the defined position; and a determination unit configured to determine whether the tool satisfies a tool condition regarding a tool type or tool state that needs to be satisfied, on the basis of a captured image imaged by the imaging device.",
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    "MAEKAWA SEISAKUSHO KK"
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    "HIRAYAMA JUNTA",
    "KIMURA KENICHIRO",
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    "YAMASHITA TOMOKI"
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  "title": "Tool checking device, storage device storing tool checking program, and tool checking method for robot arm",
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