Multi-axis robot and control method

The invention relates to the technical field of robots, and discloses a multi-axis robot and a control method.The multi-axis robot comprises a base, a first arm, a second arm and a ball screw assembly, the first arm comprises a first front arm and a first rear arm, the first front arm is transversely and rotationally connected to the base, one end of the first rear arm is rotationally connected to the first front arm, and the other end of the first rear arm is rotationally connected to the second front arm; one end of the second arm is rotationally connected to the other end of the first rear arm and can rotate by taking the direction perpendicular to the length direction of the first rear arm as a rotating shaft; the ball screw assembly is arranged at the other end of the second arm in a penetrating mode and can linearly move in the direction perpendicular to the length direction of the second arm and rotate with the length direction of the ball screw assembly as a rotating shaft. The first arm is divided in