Position control method and robot

A position control method for controlling first and second positions of first and second movable portions, respectively, according to instructions from a processor, the position control method comprising:

• moving the first movable portion to a first predetermined position according to a first instruction from the processor;
• moving the second movable portion to a second predetermined position according to a second instruction from the processor;
• suppressing a first vibration of the first movable portion based on first movement of the first movable portion according to a third instruction from the processor, the first movement being detected by a first inertial sensor;
• and
• suppressing a second vibration of the second movable portion based on second movement of the second movable portion according to a fourth instruction from the processor, the second movement being detected by a second inertial sensor, wherein
• the first vibration is suppressed by detecting the first vibration by using the first inertial sensor and adding a third vibration having a phase opposite to that of the first vibration to the first movable portion, and
• the second vibration is suppressed by detecting the second vibration by using the second inertial sensor and adding a fourth vibration having a phase opposite to that of the second vibration to the second movable portion.

A robot comprising:

• a movable portion;
• a movement control unit that moves the movable portion to a predetermined position;
• an inertial sensor that detects movement of the movable portion;
• and
• a vibration suppressing control unit that suppresses a first vibration of the movable portion based on the detected movement of the movable portion, the vibration suppressing control unit that is adopted to overlap a vibration suppressing period during which the first vibration of the movable portion is suppressed with a movement period during which the movable portion moves to the predetermined portion.