Robot, robot control method, and robot control program

Abstract

A robot according to the present invention includes a screw tightening hand; a screw tightening arm to which the screw tightening hand is attached; a position adjustment hand; a position adjustment arm to which the position adjustment hand is attached; a measurement unit; and a control unit. The control unit adjusts the position of a target member at an adjustment position using the position adjustment hand, based on the measurement results from the measurement unit at a measurement position between a screw tightening position where one of a plurality of screw members in the target member is screw tightened and an adjustment position different from the screw tightening position of the target member, while screw tightening the one screw member at the screw tightening position using the screw tightening hand.

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