Robot control method

A method to operate an arm of a robot having a plurality of joints, the method comprising:

• gripping, by a gripping part of the arm, a workpiece to bring the workpiece into a gripping state, wherein the gripping part is attached to an attaching part supported on a wrist of the arm so as to be torsionally rotatable about a joint of the plurality of joints, and wherein a deflection compensation of the arm is performed based on a first compensation amount to suppress unintended movement of the arm;
• moving, by the arm, the workpiece gripped by the gripping part to a first teaching point;
• opening the gripping part at the first teaching point to bring the workpiece into a non-gripping state;
• executing a delay command, after the opening the gripping part, for a predetermined time;
• operating, after executing the delay command, the joint and one or more other joints of the plurality of joints while the first compensation amount is changed to decrease in the non-gripping state of the workpiece to a second compensation amount while the gripping part is moved from the first teaching point to the second teaching point, wherein the deflection compensation of the arm is performed based on the second compensation amount to suppress unintended movement of the arm, and wherein the decreasing is based on setting a changing time based on a maximum allowable acceleration of the arm, the first compensation amount and the second compensation amount.