Control device and control method

A control device for controlling a robot and an articulated shaft that is attached to an end of an arm of the robot and moves a workpiece in one direction, the control device comprising:

• an operation program analysis unit configured to calculate a travel range of the robot and the articulated shaft based on an operation program that sets an initial position of the articulated shaft relative to a coordinate origin of the robot;
• and
• a robot/tool travel distance calculation unit configured to set, to a specified value based on the calculated travel range, a travel amount that the articulated shaft would be required to take to reach a boundary position of the travel range, and calculate, from coordinates of the articulated shaft relative to the coordinate origin of the robot when the articulated shaft has traveled to the boundary position and from the specified value, a travel amount of the end of the arm of the robot when the articulated shaft has traveled to the boundary position and travel amounts that the articulated shaft and the end of the arm of the robot would be required to take to reach at least one teaching point other than the boundary position,
• wherein the robot and the articulated shaft are controlled by the control device based on the calculated travel amount of the end of the arm of the robot when the articulated shaft has traveled to the boundary position and the calculated travel amounts that the articulated shaft and the end of the arm of the robot would be required to take to reach at least one teaching point other than the boundary position.