ROBOT APPARATUS, ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD, AND ROBOT CONTROL PROGRAM

摘要

PROBLEM TO BE SOLVED: To save effort when an object is rotated.SOLUTION: A robot apparatus includes a robot body 10 that holds an object to convey it to a goal position; an imaging device that images a visual field including the goal position and the object held by the robot body; a correspondence relation obtaining portion 54 that obtains a correspondence relation between a coordinate system of an image captured by the imaging device and a coordinate system of the robot body 10; a coordinate transformation section 55 that transforms a position designated in the image captured by the imaging device to a designated position in a robot coordinate system, on the basis of the correspondence relation; and a moving control portion 58 that controls the robot body 10 to the designated position in the robot coordinate system so as to move the rotation center position of the object held by the robot body 10, and rotates the object around the rotation center position.