METHOD OF CONTROLLING ARTICULATED ROBOT

PROBLEM TO BE SOLVED: To allow smooth operation with simple route generation and high response speed even in an advanced articulated robot having complicated and accurate movement. SOLUTION: In this method of controlling the advanced articulated robot having complicated and accurate movement by an offset rotating joint, the operating area of an end effecter 3 is divided into a plurality of blocks B, and the operating conditions of the joints required to move to specified blocks are stored as a data base for each block. The teaching of operation points in the specified block area is stored as a data base. Up to the block of a working area, the route is created based on block area data. When the generation reaches the reference point of the block, working point data in the block is called to determine the operations of the joints.