Operation control device, operation control system, operation control method, and storage medium

Abstract

An operation control device that controls an operation of a robot having a plurality of arms and end effectors connected to each of the arms includes an acquisition unit configured to acquire an operation instruction including a target position of the end effector from an operator, a relative relationship maintenance instruction unit configured to issue an instruction to keep a relative relationship between the end effectors constant, a control command generation unit configured to correct a target position of the end effector to maintain a relative relationship between the end effectors in response to the operation instruction acquired according to an instruction from the relative relationship maintenance instruction unit, and to calculate a joint angle target of the arm based on the corrected target position of the end effector.