Information processing method, apparatus, and computer readable medium

An information processing apparatus that performs movement control to cause a manipulator to move up to an object, the manipulator being provided with a viewing device capable of visually recognizing the object,

• the information processing apparatus comprising:
• a first control means for, until a switching condition for switching the movement control is fulfilled, executing teaching playback control that causes the manipulator to move along a path up to a target position set in advance, based on a position of the object;
• a visual processing means for detecting position information of the object based on output information from the viewing device;
• and
• a second control means for, in a case that the switching condition is fulfilled, executing an operation by substituting the position information detected by the visual processing means as feedback information into a control equation including at least one coefficient, and executing visual servo control that causes the manipulator to move up to the object based on a result of the operation,
• wherein the second control means includes:
• a coefficient modifying means for modifying at least a part of the at least one coefficient based on a predetermined state of the manipulator.