Control method, recording medium, method for manufacturing product, and system

A control method for controlling an apparatus including a movable portion by a visual servo, the control method comprising:

• obtaining a goal image corresponding to a goal positional relationship between the movable portion and a target object;
• extracting goal feature points from the goal image by image processing;
• obtaining a current image corresponding to a current positional relationship between the movable portion and the target object;
• extracting candidate feature points from the current image by image processing;
• extracting current feature points associated with the goal feature points from the candidate feature points by performing matching processing between the candidate feature points and the goal feature points;
• correcting the current feature points by using the current feature points obtained by the matching processing and a priority order set for the goal feature points;
• and
• generating, by using matching information based on matching between the corrected current feature points and the goal feature points, a control signal for moving the movable portion.