| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a robot device, a robot control method and program, and a recording medium which estimates an arm length of a robot arm having a length thereof changed in accordance with a time lapse and controls the robot arm based on the estimated arm length.SOLUTION: An arm length measurement control part 102 measures an arm present length of a robot arm by leaving a time interval and dividing the time interval at least at two times. An arm estimated length calculation part 103 determines an actual change length of the arm length based on the measured arm present length and, at the same time, determines an estimated change length of the arm length based on the arm estimated length determined from an estimation information table. An arm estimated length calculation part 103 starts an actual operation with such a confirmation that the actual change length of the arm length and the estimated change length of the arm length fall into a prescribed range as opportunity. An amount of deviation with respect to a target position is corrected in accordance with the arm estimation length of the estimation information table during the actual operation and the robot arm is controlled such that a tip of the robot arm gets to the target position.</p> |
