Robot

A robot comprising:

• a base;
• a first arm coupled to the base and configured to rotate around a first rotation shaft;
• a second arm coupled to one end portion of the first arm and configured to rotate around a second rotation shaft parallel to the first rotation shaft with respect to the first arm;
• at least one physical marker attached to the second arm in order to determine a control point of the robot;
• a first camera, a position and a posture of which are fixed with respect to the base, the first camera being disposed at a position where, when a virtual plane orthogonal to the first rotation shaft is assumed, the first camera can image the marker that moves on the virtual plane and imaging the first arm and the second arm at a fixed time interval;
• and
• a control unit configured to determine, every time the first camera acquires an image, based on differences between coordinate values of the control point of the robot determined from the marker in the image captured by the first camera and coordinate values of a designated target point, a displacement amount of rotation of a first motor that rotates the first arm around the first rotation shaft and a displacement amount of rotation of a second motor that rotates the second arm around the second rotation shaft and control the first motor and the second motor to rotate with the determined displacement amounts.