PURPOSE: To facilitate the pose performance measurement of a robot by opposing the multisensor measuring head with mutually perpendicular surfaces each having a noncontact type sensor to a target having mutually perpendicular surfaces, and by carrying out pose calculation of the relative movement of a target based on the principal of cubic positional measurement.

CONSTITUTION: A target 1 having mutually perpendicular three surfaces is connected to the arm of a robot 3 to be measured via a mechanical interface 2. A multisensor measuring head (measuring head) 4 having mutually perpendicular three surfaces and having at least six noncontact type sensors 5 on the three surfaces is mechanically supported in the working space of the robot 3. The target 1 fitted to the robot 3 is approached to the measuring head 4, and the distances to the surfaces of the target 1 are measured by the respective sensors 5. By using the measured data and the pose calculation algorithm, the displacement and rotational angle with regard to the measuring head 4 of the target 1 is obtained for estimating the pose performance of the robot 3.