Robot, robot control method, and recording medium

A robot control method for a robot including:

• a base part;
• a movable part attached to the base part in a rotatable state around a predetermined rotation axis;
• and an actuator to rotate the movable part around the rotation axis, the method comprising:
• controlling an orientation of the movable part around the rotation axis by controlling an operation of the actuator;
• when stopping rotation of the movable part, determining whether the orientation of the movable part is within a predetermined angle range including a predetermined reference orientation;
• in response to determining that the orientation is within the predetermined angle range, controlling the actuator to be in a first state in which the actuator does not restrict rotation of the movable part;
• and
• in response to determining that the orientation is not within the predetermined angle range, controlling the actuator to be in a second state in which the actuator restricts rotation of the movable part.

A computer-readable non-transitory recording medium recording thereon a program for a computer provided in a robot including:

• a base part;
• a movable part attached to the base part in a rotatable state around a predetermined rotation axis;
• and an actuator to rotate the movable part around the rotation axis, the program causing the computer to function as
• a processor that controls an orientation of the movable part around the rotation axis by controlling an operation of the actuator, wherein
• when the processor stops rotation of the movable part, the processor determines whether the orientation of the movable part is within a predetermined angle range including a predetermined reference orientation,
• in response to determining that the orientation is within the predetermined angle range, the processor controls the actuator to be in a first state in which the actuator does not restrict rotation of the movable part, and
• in response to determining that the orientation is not within the predetermined angle range, the processor controls the actuator to be in a second state in which the actuator restricts rotation of the movable part.