ROBOT CONTROL METHOD AND SUCTION HOLDING DEVICE

To provide a robot control method which can inhibit generation of creases in a workpiece in which a stored object is packed by a thin packing material, and to provide a suction holding device.SOLUTION: A robot 2 control method according to an embodiment is used to suction and hold a workpiece 9 in which a stored object 9b is packed by a thin packing material 9a and includes: a step (S2) where a suction pad 5 is pressed to the stored object 9b through the packing material 9a; a step (S5) where suctioning is started with the suction pad 5 pressed to the stored object 9b; and a step (S7) where the workpiece 9 is suctioned and held by the suction pad 5 after the suctioning is started.SELECTED DRAWING: Figure 5 【課題】収容物が薄い包装材で包装されているワークにおいて、シワの発生を抑制することができるロボットの制御方法、吸着保持装置を提供する。【解決手段】実施形態によるロボット２の制御方法は、薄い包装材９ａで収容物９ｂを包装したワーク９を吸着保持するためのものであって、吸着パッド５を、包装材９ａを介して収容物９ｂに押し当てる工程（Ｓ２）と、吸着パッド５を押し当てた状態で吸引を開始する工程（Ｓ５）と、吸引を開始した後に吸着パッド５によりワーク９を吸着保持する工程（Ｓ７）と、を含む。【選択図】図５