After switching a control method for a robot arm (5) based upon characteristic information containing pieces of information relating to a grabbed position of the robot arm (5) by a person and a presence/absence of detection of a force as well as to presence/absence of influences from a drag, during an operation of the robot arm (5), by a control method switching unit (16), information relating to the force of operation information is corrected by an operation correcting unit (20) in response to a manipulation of the person.
CONTROL APPARATUAS AND CONTROL METHOD FOR ROBOT ARM, ROBOT, CONTROL PROGRAM FOR ROBOT ARM, AND INTEGRATED ELECTRONIC CIRCUIT