Method of controlling a robot

A method of controlling the moving component of a robot to return from a given position to an original point after the moving component has traced paths established respectively by a group of successive motion data blocks, each said motion data block including positional data representative of positions of the moving component, each said motion data block except for the motion data block corresponding to the original point further including velocity data for indicating a velocity at which said moving component is to travel up to the position indicated by the positional data in each said motion data block, said method comprising the steps of:

• sequentially moving said moving component along said paths toward said original point based on positional data in the motion data block which immediately precedes a present position of said moving component at a velocity based on the velocity data in the motion data block corresponding to the present position, whereby the moving component arrives at said original point based on the positional and velocity data in said motion data blocks.