Robot control apparatus, robot control method, program, recording medium and robot system

A robot control method that controls a robot configured to include a freely displaceable joint and move an end effector according to a displacement of the joint, comprising:

• a step of imaging a reference position provided on the robot while capturing the reference position and a destination of the reference position in a field of view;
• a step of acquiring a positional deviation from the destination for the reference position based on an imaging result of the reference position;
• a step of acquiring a detected displacement amount by detecting a displacement amount of the joint;
• a step of calculating a first application amount from a result of acquiring a value of integral acquired by performing an integral operation on a value corresponding to the positional deviation for the reference position and a second application amount by performing a proportional operation on a value corresponding to a displacement amount deviation between the detected displacement amount and a target displacement amount which is the displacement amount of the joint when the reference position coincides with the destination, each of said first and second application amount being a force or a torque applied to the joint to displace the joint;
• and
• a step of moving the reference position to the destination thereof by applying the first application amount and second application amount to the joint.

A non-transitory computer-readable recording medium having recorded thereon a robot control program that causes a computer to control a robot configured to include a freely displaceable joint and move an end effector according to a displacement of the joint, causing the computer to perform:

• a step of imaging a reference position provided on the robot while capturing the reference position and a destination of the reference position in a field of view;
• a step of acquiring a positional deviation from the destination for the reference position based on an imaging result of the reference position;
• a step of acquiring a detected displacement amount by detecting a displacement amount of the joint;
• a step of calculating a first application amount from a result of acquiring a value of integral acquired by performing an integral operation on a value corresponding to the positional deviation for the reference position and a second application amount by performing a proportional operation on a value corresponding to a displacement amount deviation between the detected displacement amount and a target displacement amount which is the displacement amount of the joint when the reference position coincides with the destination, each of said first and second application amount being a force or a torque applied to the joint to displace the joint;
• and
• a step of moving the reference position to the destination thereof by applying the first application amount and second application amount to the joint.

A robot system, comprising:

• a robot configured to include a freely displaceable joint and move an end effector according to a displacement of the joint;
• an imager to image a reference position provided on the robot while capturing the reference position and a destination of the reference position in a field of view;
• a displacement amount detector to detect a displacement amount of the joint;
• a positional deviation acquirer to acquire a positional deviation from the destination for the reference position based on an imaging result of the imager;
• an application amount calculator to calculate a first application amount from a result of acquiring a value of integral acquired by performing an integral operation on a value corresponding to the positional deviation for the reference position and a second application amount by performing a proportional operation on a value corresponding to a displacement amount deviation between a detected displacement amount by the displacement amount detector and a target displacement amount which is the displacement amount of the joint when the reference position coincides with the destination, each of said first and second application amount being a force or a torque applied to the joint to displace the joint;
• and
• a drive controller to move the reference position to the destination thereof by applying the first application amount and second application amount to the joint.