Robot system and robot control method

A method for controlling a robot, the robot including an operation tool and a movable part, the movable part performing an adjustment operation adjusting at least one of a position and a direction of the operation tool while the operation tool performs an operation to a workpiece, the method comprising:

• an image acquisition process of acquiring a current image which is an image captured by an imaging device arranged so that the imaging device moves with the operation tool or the imaging device is arranged to capture an image of an area including the operation tool;
• an image prediction process of predicting a next image, which is an image to be subsequently captured by the imaging device, the next image being predicted based on only a teaching image model and the current image, the teaching image model being constructed by a machine learning of a teaching image which is predicted to be captured by the imaging device while the movable part performs the adjustment operation;
• and
• an operation control process of calculating a command value causing the movable part to move so that the image captured by the imaging device approaches the predicted next image, and controlling the movable part based on the calculated command value, wherein:
• the image acquisition process, the image prediction process, and the operation control process are performed repeatedly,
• the teaching image for constructing the teaching image model includes a feature point hat changes position with the adjustment operation,
• the teaching image model is constructed by the machine learning of position change of the feature point, and
• the teaching image model outputs the next image based on information about change tendency between the current image and the next image when only the current image is input to the teaching image model.