Method for controlling articulated robot and robot system

A robot system comprising:

• an articulated robot including L (L is a natural number of seven or more) joints and including a plurality of drive modes, wherein at least one joint of the L joints is associated, as a drive target joint, with each of the plurality of drive modes;
• and
• a controller including an operation controller configured to control an operation of the articulated robot,
• wherein the operation controller is configured to:
• receive a selected drive mode among the plurality of drive modes;
• execute calculation processing including an inverse kinematics calculation to calculate an amount of displacement of the drive target joint identified based on the selected drive mode from among the L joints, and calculate, based on the calculation processing executed, a joint value relating to a state of each of the L joints such that the articulated robot is in a target state;
• and
• control the operation of the articulated robot based on the joint value calculated for each of the L joints.

A robot system comprising:

• an articulated robot including L (L is a natural number of seven or more) joints and including a plurality of drive modes, wherein at least one joint of the L joints is associated, as a drive target joint, with each of the plurality of drive modes;
• and
• a controller including:
• an operation controller configured to control an operation of the articulated robot;
• and
• a display controller configured to display, on a display, a selection screen for selecting a drive mode from among the plurality of drive modes,
• wherein the operation controller is configured to drive the drive target joint identified based on a drive mode selected via the selection screen to control the operation of the articulated robot such that the articulated robot is in a target state.