Robot controller, robot system, robot, robot control method, and program

A robot controller comprising:

• a control unit that controls a movable unit of a robot to move an end point of the movable unit closer to a target position;
• and
• an image acquisition unit that acquires a target image as an image containing the end point when the end point is in the target position, and a current image as an image containing the end point when the end point is in a current position,
• wherein the control unit controls movement of the movable unit based on the current image and the target image and output from a force detection unit that detects a force acting on the movable unit.

A robot control method comprising:

• an image acquisition step of acquiring a target image as an image containing an end point of a movable unit of a robot when the end point is in a target position, and a current image as an image containing the end point when the end point is in a current position;
• a first control step of generating a command value for moving the end point from the current position to the target position based on the current image and the target image;
• a second control step of generating a command value for moving the end point based on output from a force detection unit that detects a force acting on the movable unit;
• and
• a third control step of moving the movable unit using the command value generated at the first control step and the command value generated at the second control step.

A robot control method comprising:

• a control step of controlling a movable unit of a robot to move an end point of the movable unit closer to a target position;
• and
• an image acquisition step of acquiring a target image as an image containing the end point when the end point is in the target position, and a current image as an image containing the end point when the end point is in a current position,
• wherein the control step controls movement of the movable unit based on the current image and the target image and output from a force detection unit that detects a force acting on the movable unit.