| 摘要 |
A robot control method according to the disclosure of the present invention comprises: a teaching step; a first processing step; a modifying step; a second processing step; and a third processing step. In the modifying step, on the basis of the amount of difference between a second teaching point and a first modifying point, a third teaching point is changed to a second modifying point, a fourth teaching point is changed to a third modifying point, and a fifth teaching point is changed to a fourth modifying point. In the first processing step and the third processing step, tracking modifying control for changing the position of a work tool is carried out using a sensor which is attached to the processing advancement direction side of the work tool. During the second processing step, the posture of the work tool is changed. |
