Manipulator controller, manipulator control method, and non-transitory computer-readable storage medium storing manipulator control program

A manipulator control method implementable by a computer, the method comprising:

• obtaining a tilt angle of a base relative to a reference surface, the base receiving a manipulator;
• obtaining a target position of the manipulator having no tilt to the reference surface;
• correcting, based on the obtained tilt angle and the obtained target position, the target position to a corrected target position in accordance with the tile angle;
• and
• controlling an operation of the manipulator based on the corrected target position.

A non-transitory computer-readable storage medium storing a manipulator control program, which when read and executed, causes a computer to perform operations comprising:

• obtaining a tilt angle of a base relative to a reference surface, the base receiving a manipulator,
• obtaining a target position of the manipulator having no tilt to the reference surface,
• correcting, based on the tilt angle and the target position, the target position to a corrected target position in accordance with the tilt angle, and
• controlling an operation of the manipulator based on the corrected target position.