Robot control method for processing a workpiece on a processing line

A robot control method for performing processing on a workpiece on a processing line using a work tool and a sensor mounted on the processing line in advance of the work tool, the processing line including a plurality of teaching points for the workpiece, the robot control method comprising:

• setting, in advance of the processing of the workpiece, a first teaching point, a second teaching point, a third teaching point, a fourth teaching point, and a fifth teaching point on the processing line for the workpiece, each of the first teaching point, the second teaching point, the third teaching point, the fourth teaching point, and the fifth teaching point corresponding to a position of the work tool during the processing of the workpiece in a process advancing direction on the processing line, the third teaching point corresponding to a turning point of the work tool on the processing line;
• a first processing of performing the processing on the workpiece using the work tool from the first teaching point to the second teaching point on the processing line and applying a profile modifying control to change the position of the work tool with respect to the processing line based on a shape of the workpiece detected by the sensor;
• changing, based on a difference between the second teaching point and a first modified point, the third teaching point to a second modified point, the fourth teaching point to a third modified point, and the fifth teaching point to a fourth modified point, wherein the first modified point is a point reached by the profile modifying control in the first processing based on the shape of the workpiece detected by the sensor and corresponding to the second teaching point;
• a second processing of performing the processing on the workpiece using the work tool from the first modified point through the second modified point, and then to the third modified point;
• and
• a third processing of performing the processing on the workpiece using the work tool from the third modified point to the fourth modified point and applying the profile modifying control to change the position of the work tool with respect to the processing line based on the shape of the workpiece detected by the sensor, wherein an angle of the work tool with respect to the processing line is changed during the second processing of the workpiece.