Command value correction device and robot system

A command value correction device configured to correct a command value for instructing an orientation of an articulated robot that positions a tip end of an arm having a plurality of joints, the command value correction device comprising:

• a robot model setting unit configured to set a robot model that represents the articulated robot by an elastically deformable model;
• a support model setting unit configured to set a support model that represents a support to which the articulated robot is secured, by an elastically deformable model;
• a force calculation unit configured to calculate a force that acts on the support according to weight of the articulated robot in a case where the orientation of the articulated robot conforms to the command value before correction;
• a correction unit configured to correct the command value in such a manner as to cancel out an amount of support model elastic deformation that is elastic deformation for the support model due to the force calculated by the force calculation unit;
• a deformation amount obtainment unit configured to obtain an actual position of the tip end;
• and
• a robot model correction unit configured to correct a parameter in the robot model and a parameter in the support model based on the actual position of the tip end.