Control method, control device, robot system, program, and recording medium

A non-transitory recording medium having recorded therein a program executed by a computer, the program causing the computer to:

• in a process in which a robot moves an end effector sequentially to operation target points on an operation path, record information of the operation target point that is a destination, each time the end effector moves to the operation target point;
• acquire a present position of the end effector upon receiving an origin return command to return the end effector to an origin of the operation target points;
• detect 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;
• detect 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;
• repeat 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;
• and
• determine 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.