ROBOT ARM DEVICE, AND METHOD AND PROGRAM FOR CONTROLLING ROBOT ARM DEVICE

摘要

A robot arm device according to the disclosure of the present invention is provided with a joint part that connects a plurality of links constituting a multi-link structure, an acquisition unit that acquires an on-screen magnification of an object captured by an imaging unit attached to the multi-link structure, and a drive control unit that controls the driving of the joint part on the basis of the state of the joint part and the magnification.