Method of controlling robot apparatus, robot apparatus, and method of manufacturing article

A non-transitory computer-readable recording medium storing a robot system control program to cause a control device in a robot system to execute controlling of the robot system, wherein the robot system includes:

• a robot apparatus capable of changing any of a position and an orientation of an obtained workpiece by driving a joint,
• a measurement device configured to measure any of the position and the orientation of the workpiece, and
• the control device,
• the program comprising code to execute:
• in a case where the control device corrects any of the position and the orientation of the workpiece by controlling an operation of the joint at a first position being a target position of the workpiece based on a measurement result of the measurement device,
• causing the measurement device to measure any of the position and the orientation of the workpiece at a third position after the control device moves the workpiece from a second position being outside a possible range of a position of the joint as the first position, to the third position;
• and
• causing the control device to control the joint such that the joint operates in one direction in a case of moving the workpiece from the second position to the third position and in a case of moving the workpiece from the third position to the first position.

A robot system comprising:

• a robot apparatus capable of changing any of a position and an orientation of an obtained workpiece by driving a joint;
• a measurement device configured to measure any of the position and the orientation of the workpiece;
• and
• a control device,
• wherein,
• in a case where the control device corrects any of the position and the orientation of the workpiece by controlling an operation of the joint at a first position being a target position of the workpiece based on a measurement result of the measurement device,
• the measurement device measures any of the position and the orientation of the workpiece at a third position after the control device moves the workpiece from a second position being outside a possible range of a position of the joint as the first position, to the third position, and
• the control device controls the joint such that the joint operates in one direction in case of moving the workpiece from the second position to the third position and in case of moving the workpiece from the third position to the first position.

A method of manufacturing an article using a robot system including a robot apparatus capable of changing any of a position and an orientation of an obtained workpiece by driving a joint, a measurement device configured to measure any of the position and the orientation of the workpiece, and a control device,

• the method comprising:
• in a case where the control device corrects any of the position and the orientation of the workpiece by controlling an operation of the joint at a first position being a target position of the workpiece, based on a measurement result of the measurement device,
• the measurement device measuring any of the position and the orientation of the workpiece at a third position, after the control device moves the workpiece from a second position being outside a possible range of a position of the joint as the first position, to the third position;
• the control device controlling the joint such that the joint operates in one direction in case of moving the workpiece from the second position to the third position and in case of moving the workpiece from the third position to the first position;
• and
• the control device attaching the workpiece to a different workpiece.