A robot control method is provided. The robot control method according to an embodiment of the present invention is a robot control method capable of controlling a working robot to which a tool for performing work using inverse kinematics by a robot controller can be attached. The method comprises a step (a) of inputting the current joint value and the target position value of the working robot; a step (b) of converting the current position and the target position of the working robot to a homogeneous transformation matrix; a step (c) of calculating a vector (Pose difference vector) which indicates the difference between the current position and the target position of the working robot; a step (d) of calculating the jacobian inverse matrix of the homogeneous transformation matrix through a jacobian simplification process; and a step (e) of calculating the target joint value of the working robot using the calculated pose difference vector and jacobian inverse matrix. [Reference numerals] (S201) Input the current joint value and the target position value of a working robot; (S202) Convert the current position and the target position to a homogeneous transformation matrix; (S203) Calculate a vector which indicates the difference between the current position and the target position; (S204) Calculate a jacobian inverse matrix using jacobian simplification; (S205) Calculate a target joint value; (S206) Are convergence conditions satisfied?; (S207) Calculate a final target joint value
