Motion prediction control device and method

A motion prediction control method comprising the steps of:

• (A) measuring one or both of an object and a robot by a measuring unit thereby to acquire sensor information;
• (B) predicting an internal state of one or both of the object and the robot on the basis of the sensor information and updating the internal state by a state estimation unit;
• (C) storing the internal state by a data storage unit;
• and
• (D) controlling the robot by a robot control unit,
• wherein at the step (B), the internal state is updated at an arbitrary timing that is independent of the control cycle of the robot by the state estimation unit, and
• at the step (D), a prediction value necessary for controlling the robot is calculated by the robot control unit at the control cycle on the basis of a latest internal state stored in the data storage unit.