　In order to eliminate or reduce position errors in the movement control of a robot arm, a motion control device (100) of a robot device is provided with: a current position/orientation calculation unit (104) that calculates the current position of a point of interest from a current plurality of joint variables corresponding to a plurality of joints (J1-J6); a trajectory calculation unit (105) that calculates the trajectory from the current position to a final target position; a command value calculation unit (106) that calculates movement velocities on the basis of a unit of time and the distance from each of a plurality of target positions to the subsequent target position for each unit of time on the trajectory, converts the calculated movement velocities to a plurality of joint angular velocities of the plurality of joints (J1-J6) according to a Jacobian inverse matrix corresponding to the structure of a robot arm mechanism (200), and calculates, as a plurality of command values, a plurality of joint variables corresponding to the subsequent target position from the plurality of joint angular velocities and the unit of time; and a driver control unit (103) that respectively outputs the plurality of command values to a plurality of motor drivers (201, 203, 205, 207, 209, 211).
MOTION CONTROL DEVICE FOR ARTICULATED ARM MECHANISM, AND ROBOT DEVICE