Positioning control method of the robot and positioning control device

(57) Abstract: can output optimal speed command capable of suppressing the residual vibration after the movement operation completed, with attained tact time of the moving operation, provide a positioning control device and positioning control method of a robot can be shortened setting time to. A positioning control method of the robot 1 to perform point-to-point moving operation of the robot 1, by performing test operation measures the frequency of the residual vibration of the robot 1 is stopped at the target position, in certain travel distance of the robot 1 travel time separately the magnitude of the residual vibration based on the frequency measured obtained relation between the magnitude of the vibration and the moving time, calculating the travel time of the shortest size of the vibration becomes the minimum value, the robot 1 in this travel time positioning to the target position performs a movement between two points.