Teaching and playback method based on control of redundancy resolution for robot and computer-readable medium controlling the same

A teaching and playback method for a robot having an elbow with an offset, comprising:

• performing a teaching and playback operation based on analytic inverse kinetics for the robot for posture control, using end-effector parameters and a redundancy resolution parameter of the robot,
• wherein the teaching and playback operation includes:
• setting a center of a fourth axis of the robot as an elbow;
• generating two virtual elbows based on Denavit-Hartenberg (D-H) convention parameters;
• and
• interpreting an initial posture of the robot and a target posture that results from moving a set reference plane and an arm plane defined by a shoulder, elbow, and wrist of the robot by a predetermined angle, using the elbow and the virtual elbows.