Robot control method

A robot control method in a control device connected to a robot that performs a work on a work object and a camera that is mounted on the robot, the method comprising:

• calculating environmental information indicating a peripheral environment of the robot, the environmental information including three-dimensional-position information corresponding to pieces of feature information of the work object and pieces of feature information of a peripheral object present in the peripheral environment of the robot, based on a plurality of pieces of a captured image captured by the camera at a plurality of positions and angles;
• acquiring first sensor information and second sensor information by using the camera, the first sensor information including the feature information of the work object and the feature information of the peripheral object in a first image captured at a first acquisition time, and the second sensor information including the feature information of the work object in a second image captured at a second acquisition time;
• executing a first step of calculating first control information causing the robot to approach a work goal of the robot for the work object based on first work goal information indicating a target position and posture of the camera, the environmental information, and the first sensor information;
• executing a second step of calculating second control information causing the robot to approach the work goal based on second work goal information and the second sensor information, the second work goal information indicating a position and posture of the work object in the second image;
• and
• executing a third step of calculating third control information based on the first control information and the second control information, and controlling the robot based on the third control information.