In order to solve a problem that a large load is applied to a particular shaft of a transfer robot in accordance with acceleration during transfer of a transfer target, a control apparatus for controlling a transfer robot having a hand portion and an arm portion includes: a calculating portion that calculates an inclination angle that is an angle of a leading shaft, which is a horizontal shaft on a leading end side of the arm portion, and a vertical velocity that is a velocity in an upper-lower direction of the hand portion such that, during movement of the transfer target, among moments that are applied to the leading shaft, a first moment according to force of inertia in association with the movement and a second moment according to the gravity weaken each other, and that a normal velocity component that is a velocity component of the hand portion in a normal direction of the transfer target is reduced; and a control portion that controls the arm portion according to a result of the calculation. Since control is performed such that the first and second moments are allowed to weaken each other, it is possible to reduce loads that are applied to the leading shaft during movement.

An instrument drive unit includes a housing defining a central longitudinal axis; an inertial measurement unit disposed within the housing and configured to determine a pose of the instrument drive unit; and a controller disposed within the housing, the controller configured to receive the pose of the instrument drive unit from the inertial measurement unit and to generate a corrected output signal which compensates for the pose of the instrument drive unit.