Robot control method

A robot control method for operating a robot system comprising a robot manipulator and a robot base, said robot manipulator comprising a plurality of manipulator axles at which said robot manipulator is articulated, and said robot base comprising at least one base axle that is different from said manipulator axles, and a computerized robot controller in communication with said robot manipulator and said robot base, said method comprising:

• operating said robot manipulator and said robot manipulator and said robot base from said robot controller according to a robot program by automatically controlling movement of said axles of said robot manipulator to adjust a tool reference point of said robot manipulator dependent on a work point of robot program, said work point having a position and an orientation associated therewith, said robot program providing target values for said position and said orientation of said work point;
• in said controller, from said target values, executing said robot program to determine planned values for position in orientation of said robot base to be achieved by controlling movement of said at least one base axle by said robot controller;
• in said robot controller, automatically changing said planned values, to changed values of said position and orientation of said robot base, to cause an actual position of said robot base that is to be occupied by said robot base relative to said position in said planned values, to converge on a predetermined reference point;
• and
• from said controller, automatically controlling movement of said at least one base axle to cause said robot base to occupy a position and orientation corresponding to the changed values.