Robot control device for controlling motor-driven robot

A robot control device for controlling a robot to be driven by a motor, comprising:

• a first sensor which can be used in a first range including the entirety of the operating range of the robot;
• a first control unit for calculating a first control input to the motor, using a feedback value from the first sensor;
• a second sensor which can be used in a second range including at least a part of the operating range of the robot;
• a second control unit for calculating a second control input to the motor, using a feedback value from the second sensor or feedback values from both the first sensor and the second sensor;
• a range storing unit for storing a third range included in both the operating range of the robot and the second range;
• a ratio setting unit for setting a ratio between the first control input and the second control input with respect to control inputs to the motor, based on the comparison of the third range stored in the range storing unit and the position and posture of the robot;
• an addition unit for adding the first control input and the second control input together in accordance with the ratio set by the ratio setting unit;
• and
• a control performing unit for performing feedback control of the motor based on a result of the addition performed by the addition unit.