Robot control apparatus, robot control system, and method for controlling robot

A robot control apparatus comprising:

• a planning unit configured to plan a route and a motion of a robot on a basis of information regarding an operation target of the robot included in information regarding a space where the motion of the robot is affected;
• an information obtaining unit configured to obtain, as actual physical information, physical information indicating a result of an actual motion of the robot based on the planned route and motion of the robot;
• a motion estimation unit configured to output information output from a model plant, which is obtained by modeling an ideal state of the robot, by inputting control information regarding an amount of movement for controlling the motion of the robot, the amount of movement being determined in accordance with the planned route and motion of the robot, to the model plant as estimated physical information, which is obtained when the robot is assumed to move ideally on a basis of the control information;
• and
• a state estimation unit configured to estimate a state of the robot on a basis of the actual physical information and the estimated physical information,
• wherein the planning unit is further configured to plan the route and the motion of the robot further on a basis of a result of the estimation of the state of the robot.

A method for controlling a robot, the method comprising:

• planning a route and a motion of a robot on a basis of information regarding an operation target of the robot included in information regarding a space where the motion of the robot is affected;
• obtaining, as actual physical information, physical information indicating a result of an actual motion of the robot based on the planned route and motion of the robot;
• outputting information output from a model plant, which is obtained by modeling an ideal state of the robot, by inputting control information regarding an amount of movement for controlling the motion of the robot, the amount of movement being determined in accordance with the planned route and motion of the robot, to the model plant as estimated physical information, which is obtained when the robot is assumed to move ideally on a basis of the control information;
• and
• estimating a state of the robot on a basis of the actual physical information and the estimated physical information,
• wherein the route and the motion of the robot is planned further on a basis of a result of the estimation of the state of the robot.