Method of controlling robot apparatus, robot apparatus, and method of manufacturing article

A computer-readable recording medium storing a robot apparatus control program to cause a control device in a robot apparatus to execute a method of controlling a robot apparatus, wherein

• the robot apparatus includes:
• a robotic arm provided with a gripping device capable of changing any of a position and an orientation by using a joint, and
• the control device configured to control any of a position and an orientation of a gripped object gripped with the gripping device in an action of attaching the gripped object to an attachment target object, and
• the method includes:
• causing a measurement device to measure any of the position and the orientation of the gripped object at a measurement teaching point determined such that a direction to drive the joint in a movement to an attachment teaching point is set to a definite driving direction;
• and
• causing the robotic arm to correct any of the position and the orientation of the gripped object based on a result of the measurement.

A robot apparatus comprising:

• a robotic arm provided with a gripping device capable of changing any of a position and an orientation by using a joint;
• a measurement device configured to measure any of a position and an orientation of the gripped object gripped with the gripping device;
• and
• a control device configured to control an action of the robotic arm based on a result of the measurement by the measurement device, wherein
• the robot apparatus is configured to correct any of the position and the orientation of the gripped object relative to an attachment target object being a target for attachment in an action of moving the robotic arm via at least three teaching points of
• a pre-measurement teaching point being a location before the measurement device performs the measurement,
• a measurement teaching point where the measurement device performs the measurement, and
• an attachment teaching point where the gripped object is attached to the attachment target object, and
• the control device
• acquires a possible corrected movable range of an axis value of the joint in a movement to toward the attachment teaching point based on possible error ranges of the position and the orientation of the gripped object in a state of being gripped with the gripping device,
• acquires a teaching point included in a range outside the corrected movable range as the pre-measurement teaching point based on an axis value of the joint corresponding to the acquired corrected movable range, and
• acquires a teaching point included in a range between the pre-measurement teaching point and the corrected movable range as the measurement teaching point based on the axis value of the joint corresponding to the acquired corrected movable range.

A method of manufacturing an article, in which a robotic arm provided with a gripping device capable of changing any of a position and an orientation by using a joint manufactures an article by attaching a gripped object gripped with the gripping device to an attachment target object,

• the method comprising:
• causing a measurement device to measure any of the position and the orientation of the gripped object at a measurement teaching point determined such that a driving direction of the joint in a movement to an attachment teaching point is set to a definite driving direction;
• and
• causing the robotic arm to correct any of the position and the orientation of the gripped object based on a result of the measurement.