Robot controlling method, robot apparatus, program, recording medium, and method for manufacturing assembly component

A robot controlling method for controlling an articulated robot, joint driving devices configured to drive respective joints of the articulated robot each including a servomotor, a reduction gear, a motor-side angle detector configured to detect an output angle of the servomotor, and a reduction gear-side angle detector configured to detect an output angle of the reduction gear, the articulated robot being stopped for a stopping duration by a control unit before the articulated robot moves from a first motion to a second motion, the robot controlling method comprising:

• a feedback control step of carrying out feedback control on the servomotors such that detection angles detected by the respective motor-side angle detectors become target angles;
• a leading end position calculation step of obtaining a position of a leading end of the articulated robot based on detection angles detected by the respective reduction gear-side angle detectors;
• a timing step of obtaining a time from a reference time point to a time point at which a vibration width, relative to a positioning completion position, of the position of the leading end of the articulated robot calculated in the leading end position calculation step converges within a convergence range;
• and
• a setting step of setting the time obtained in the timing step as the stopping duration.