Controller of robot apparatus for adjusting position of member supported by robot

A controller of a robot apparatus configured to adjust a relative position of a second member with respect to a first member by moving the second member by a robot, the controller comprising:

• a first vision sensor configured to capture an image of the first member;
• a second vision sensor configured to capture an image of the first member and the second member from a direction different from a direction of the first vision sensor;
• an arithmetic processing unit configured to generate a movement command for the robot;
• and
• an operation control unit configured to drive the robot based on the movement command;
• wherein
• the controller is formed in such a manner that approaching control for making the second member positioned away from the first member approach the first member, and position adjustment control for adjusting a position of the second member with respect to a position of the first member after the second member approaches the first member are performed,
• the approaching control includes control in which the arithmetic processing unit calculates a movement direction and a movement amount of a position of the robot based on an image captured by the first vision sensor and generates a first movement command that allows the second member to approach the first member, and control in which the operation control unit changes a position of the robot based on the first movement command, and
• the position adjustment control includes control in which the arithmetic processing unit calculates a movement direction and a movement amount of a position of the robot based on an image captured by the first vision sensor and an image captured by the second vision sensor and generates a second movement command that allows a position of the first member with respect to the second member to be adjusted, and control in which the operation control unit changes a position of the robot based on the second movement command.