| CPC B25J 9/1664 (2013.01) | 28 Claims |
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1. A control method for a robot that performs operation of moving an end effector sequentially to operation target points on an operation path, the control method comprising:
recording information of the operation target point that is a destination, each time the end effector moves to the operation target point;
acquiring a present position of the end effector upon receiving an origin return command to return the end effector to an origin of the operation path;
detecting information of a first return target point that is the operation target point already reached immediately before the present position or the operation target point having a distance closest to the present position among information of the operation target points already reached by the end effector before the present position, as information of a point on a return path for returning the end effector to the origin;
detecting information of a (k+1)th return target point that is the operation target point already reached immediately before a kth return target point or the operation target point having a distance closest to the kth return target point among information of the operation target points already reached by the end effector before the kth return target point, as information of a point on the return path, wherein k is a natural number from 1 to n and n is a natural number of 1 or more:
repeating detection of the information of the (k+1)th return target point to detect information of a second return target point to an (n+1)th return target point;
determining the return path passing through the first return target point to the (n+1)th return target point in this order and returning to the origin; and
moving the end effector along the return path.
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