Grasping error correction method, grasping error correction apparatus, and grasping error correction program

A grasping error correction apparatus configured to correct a grasping error value of a workpiece grasped by a hand of a multi-axis articulated arm when an operation performed by the multi-axis articulated arm is reproduced, the operation having been memorized through teaching so that the workpiece is grasped by the hand and a processing area of the workpiece is conveyed to a processing place, the grasping error correction apparatus comprising:

• a position information acquisition unit configured to acquire position information of a plurality of areas of the workpiece grasped by the hand at the time of the reproduction;
• a grasping error value calculation unit configured to calculate the grasping error value based on the position information of the plurality of areas of the workpiece at the time of the reproduction and the position information of the plurality of areas of the workpiece at the time of the teaching;
• and
• an arm control unit configured to control an operation performed by the multi-axis articulated arm so as to correct the grasping error value, wherein the grasping error value calculation unit calculates the grasping error value so that a grasping error in a processing nearby area, which is one of the plurality of areas of the workpiece that is closest to the processing area, is preferentially eliminated over those in the other areas of the workpiece.