Robot arm apparatus and robot arm control method

A robot arm control method, comprising:

• acquiring a state of an arm, wherein
• the arm comprises a plurality of links,
• a first link of the plurality of links is joined to a second link of the plurality of links by at least one joint of a plurality of joints, and
• the arm is connectable to an imaging device;
• obtaining a distance between a reference point on an optical axis of the imaging device and the imaging device;
• setting, based on the obtained distance and the state of the arm, a constraint condition to prevent the arm from an invasion prohibition region, wherein the state of the arm is setting information of the at least one joint of the plurality of joints;
• and
• controlling movement of the arm based on the constraint condition to control each joint of the plurality of joints to be cooperatively driven.

A non-transitory computer-readable medium, having stored thereon computer-executable instructions, which when executed by a computer, cause the computer to execute operations, the operations comprising:

• acquiring a state of an arm, wherein
• the arm comprises a plurality of links,
• a first link of the plurality of links is joined to a second link of the plurality of links by at least one joint of a plurality of joints, and
• the arm is connectable to an imaging device;
• obtaining a distance between a reference point positioned on an optical axis of the imaging device and the imaging device;
• setting, based on the obtained distance and the state of the arm, a constraint condition to prevent the arm from an invasion prohibition region, wherein the state of the arm is setting information of the at least one joint of the plurality of joints;
• and
• controlling movement of the arm based on the constraint condition to control each joint of the plurality of joints to be cooperatively driven.