Robot system, robot control device, and robot control program

A control apparatus of a robot including a first sensor configured to measure a displacement quantity of a coordinate position between a work point and a target point defined for each of a plurality of objects with different shapes or a physical quantity that changes due to the displacement quantity at a first operation frequency, comprising:

• a coarse operation management unit configured to move the target point to the vicinity of the object at a second operation frequency,
• a calculation control unit configured to generate a control signal to correct the displacement quantity at a third operation frequency in such a manner that the target point approaches the work point, and
• a correction drive unit configured to execute a correction operation to align the target point with the work point based on the control signal;
• wherein
• the second operation frequency is a frequency less than or equal to ½ of the first and third operation frequencies.

A non-transitory computer readable media storing a control program of a robot including a first sensor configured to measure a displacement quantity of a coordinate position between a work point and a target point defined for each of a plurality of objects with different shapes or a physical quantity that changes due to the displacement quantity at a first operation frequency,

• configured to allow a computer to execute:
• a coarse operation management function that moves the target point to the vicinity of the object at a second operation frequency,
• a calculation control function that generates a control signal to correct the displacement quantity at a third operation frequency in such a manner that the target point approaches the work point, and
• a correction drive function that executes a correction operation to align the target point with the work point based on the control signal;
• wherein
• the second operation frequency is a frequency less than or equal to ½ of the first and third operation frequencies.