[cdawzrd]

And, if you're totally strapped for cash, you can use the CA Robotics Poor Roboteer's Scale(tm):

Take a scale (your standard scale, that is). Tip the robot so the CG is over a single side (we tip it forward, so that the outermost front metal bar is resting on the center of the scale. Tip it so that it is basically free, use your arms just to keep it from falling over, not to hold it up. The reading you get on the scale will be close to the weight of the scale.

Note: this is highly inaccurate, because a) bathroom scales have a tolerance of something like +/- 5% (?) and b) it's hard to get the robot exactly balanced so that all of the weight is resting on the scale.

We use this during build season, and if we are really close then we run it to the bus depot to use their baggage scale, which has a much better tolerance but has the same tipping problem.

We will probably run it over to GE/Fanuc again this year and use their big scale, just before we ship it. Not that we would be able to correct for it right then, but if we were over we would know what to expect on Thursday the 3rd.

Hope this helps,
Jonathan