Fault diagnosis apparatus for a robot system for determining failure by the camera of the image

To provide a fault diagnosis apparatus for sensors robotic system outside the damage of the robot. A failure diagnosis apparatus 4 includes a camera 41a, the arithmetic processing unit 5 determines failure based on the images taken by the camera 41a. Processor 5 includes an image acquisition command unit 54 sends a command to shoot a diagnostic moiety to implement determination of the failure, and determining unit 56 whether the diagnostic part has failed. Storage unit 53, the diagnostic portion stores a reference image when the normal state. Capturing instruction unit 54 sends the image acquisition command to shoot a diagnostic moiety by camera 41a after changing the position and orientation of the robot 1a. Determining unit 56 determines a failure of the diagnostic portion of the image obtained by photographing the diagnostic moiety by camera 41a is compared with a reference image. .The