Robot control device

A robot control device that controls a robot in which a sensor configured for measuring forces is installed, the robot control device comprising:

• at least one processor comprising hardware, the at least one processor being connected to the sensor;
• and
• a storage,
• wherein the at least one processor is configured to:
• receive, from the sensor, a plurality of first measurement values, which are measured by the sensor when a tool having a known mass and whose center-of-gravity position is changed by movement is disposed at a distal end of a wrist of the robot and the wrist performs a specific motion in a state where the tool is in a first center-of-gravity position, and a plurality of second measurement values, which are measured by the sensor when the wrist performs the specific motion in a state where the tool is in a second center-of-gravity position different from the first center-of-gravity position;
• store the received first measurement values and the received second measurement values in the storage in association with a posture of the robot at a time when each of the plurality of first measurement values and the plurality of second measurement values were measured to construct a database;
• and
• correct the measurement values measured by the sensor on a basis of the constructed database when the tool whose center-of-gravity is unknown is disposed.