Robot and method of controlling the same

A method of controlling a robot including a first arm and a second arm, the first arm having a first hand part provided to a tip end of the first arm, and at least one joint shaft provided between a pedestal and the first hand part, the second arm having a second hand part provided to a tip end of the second arm, and at least one joint shaft provided between the pedestal and the second hand part, the method comprising:

• attaching to the first hand part a first acting part configured to contact a given table-like body on which a plurality of workpieces are able to be placed;
• attaching to the second hand part a second acting part configured to contact the table-like body;
• vibrating the table-like body by controlling the first arm and the second arm to cause the first acting part and the second acting part to contact the table-like body, with the proviso that the vibrating includes controlling the first arm and the second arm to cause the first acting part and the second acting part to move in cooperation with each other in opposing directions of the first acting part and the second acting part with a given amplitude and at a given cycle, with the table-like body located between the first acting part and the second acting part while maintaining a constant distance between the first acting part and the second acting part, so that the table-like body contacted by the first acting part and the second acting part vibrates so as to reciprocate, while sliding on the workbench;
• imaging a placement surface of the workpiece in the table-like body by an imaging unit configured to image the placement surface two-dimensionally in a perpendicular direction to the placement surface;
• and
• recognizing a position of the workpiece by performing a two-dimensional pattern matching based on an image two-dimensionally captured by the imaging unit.