Robot control with error reduction

Abstract

A robot system includes: a robot having an arm; and control circuitry configured to: store factor information representing an error factor of a motion of the robot, wherein the error factor is a mechanical characteristic of the robot that causes a positional error of an extremity of the arm and wherein the factor information has been predetermined based on a comparison between a programmed motion pattern and an actual motion of the robot that is operated according to the programmed motion pattern; calculate, based on a taught position of the robot and the factor information, a positional error of the extremity that would occur during an expected motion toward the taught position; and control, based on the taught position and the positional error, the robot to move the extremity toward the taught position with a positional adjustment of the robot to reduce the positional error.

Dependencies are inferred from the claim text.