Yasunao Okazaki

Person

Kusatsu-shi, JP

People

Patents Grantslast 30 patents

Information Patent Grant
Robot hand apparatus, robot hand system, and holding method
- Patent number 10,946,534
- Issue date Mar 16, 2021
- PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
- Takayuki Nagata
- G05 - CONTROLLING REGULATING
Information Patent Grant
Robot hand apparatus, robot hand system, and holding method
- Patent number 10,875,193
- Issue date Dec 29, 2020
- PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
- Takayuki Nagata
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Grant
Robot hand apparatus, robot hand system, and holding method
- Patent number 10,814,497
- Issue date Oct 27, 2020
- PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
- Takayuki Nagata
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Grant
Robot, method for controlling robot, recording medium, and method
- Patent number 10,512,577
- Issue date Dec 24, 2019
- PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
- Yuko Tsusaka
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Grant
Robot, robot control method, method, and recording medium
- Patent number 10,426,682
- Issue date Oct 1, 2019
- PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
- Yuko Tsusaka
- A61 - MEDICAL OR VETERINARY SCIENCE HYGIENE
Information Patent Grant
Robot, method for controlling robot, and recording medium
- Patent number 10,245,733
- Issue date Apr 2, 2019
- PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
- Yuko Tsusaka
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Grant
Robot system, instruction input device, non-transitory computer-rea...
- Patent number 10,076,845
- Issue date Sep 18, 2018
- PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
- Yuko Tsusaka
- A61 - MEDICAL OR VETERINARY SCIENCE HYGIENE
Information Patent Grant
Standing/sitting motion assist system, standing/sitting motion assi...
- Patent number 9,844,481
- Issue date Dec 19, 2017
- PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
- Yuko Tsusaka
- A61 - MEDICAL OR VETERINARY SCIENCE HYGIENE
Information Patent Grant
Robot, device and method for controlling robot, and computer-readab...
- Patent number 9,452,532
- Issue date Sep 27, 2016
- PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
- Mayumi Komatsu
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Grant
Robot, robot control device, robot control method, and robot contro...
- Patent number 9,346,163
- Issue date May 24, 2016
- PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
- Yasunao Okazaki
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Grant
Robot, robot control apparatus, robot control method, and robot con...
- Patent number 9,242,380
- Issue date Jan 26, 2016
- PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
- Mayumi Komatsu
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Grant
Control apparatus and control method for robot arm, assembly robot,...
- Patent number 9,211,646
- Issue date Dec 15, 2015
- PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
- Yuko Tsusaka
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Grant
Robot, robot control apparatus, robot control method, and robot con...
- Patent number 9,102,054
- Issue date Aug 11, 2015
- PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
- Yasunao Okazaki
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Grant
Control apparatus, control method, and control program for pneumati...
- Patent number 8,862,270
- Issue date Oct 14, 2014
- Panasonic Corporation
- Yasunao Okazaki
- F15 - FLUID-PRESSURE ACTUATORS HYDRAULICS OR PNEUMATICS IN GENERAL
Information Patent Grant
Robot, robot control apparatus, robot control method, and robot con...
- Patent number 8,725,295
- Issue date May 13, 2014
- Panasonic Corporation
- Yasunao Okazaki
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Grant
Control apparatus and control method of elastic body actuator as we...
- Patent number 8,700,215
- Issue date Apr 15, 2014
- Panasonic Corporation
- Mayumi Komatsu
- F15 - FLUID-PRESSURE ACTUATORS HYDRAULICS OR PNEUMATICS IN GENERAL
Information Patent Grant
Device and method for controlling robot arm, robot, and robot arm c...
- Patent number 8,676,379
- Issue date Mar 18, 2014
- Panasonic Corporation
- Yasunao Okazaki
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Grant
Control apparatus, control method, and control program for elastic...
- Patent number 8,650,868
- Issue date Feb 18, 2014
- Panasonic Corporation
- Mayumi Komatsu
- F15 - FLUID-PRESSURE ACTUATORS HYDRAULICS OR PNEUMATICS IN GENERAL
Information Patent Grant
Control apparatus and control method for robot arm, robot, control...
- Patent number 8,423,188
- Issue date Apr 16, 2013
- Panasonic Corporation
- Yuko Tsusaka
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Grant
Robot, and control apparatus, control method, and control program f...
- Patent number 8,401,702
- Issue date Mar 19, 2013
- Panasonic Corporation
- Yasunao Okazaki
- A61 - MEDICAL OR VETERINARY SCIENCE HYGIENE
Information Patent Grant
Robot, control device for robot, and control method of robot
- Patent number 8,396,594
- Issue date Mar 12, 2013
- Panasonic Corporation
- Yasunao Okazaki
- G05 - CONTROLLING REGULATING
Information Patent Grant
Control apparatus, control method, and control program for elastic...
- Patent number 8,253,367
- Issue date Aug 28, 2012
- Panasonic Corporation
- Mayumi Komatsu
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Grant
Robot, control device for robot arm and control program for robot arm
- Patent number 8,185,243
- Issue date May 22, 2012
- Panasonic Corporation
- Yasunao Okazaki
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Grant
Control apparatus and control method for robot arm, robot, control...
- Patent number 8,175,749
- Issue date May 8, 2012
- Panasonic Corporation
- Yuko Tsusaka
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Grant
Control apparatus and control method for robot arm, robot, control...
- Patent number 8,170,719
- Issue date May 1, 2012
- Panasonic Corporation
- Yuko Tsusaka
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Grant
Robot hand and robot arm
- Patent number 8,157,305
- Issue date Apr 17, 2012
- Panasonic Corporation
- Yasunao Okazaki
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Grant
Compressible fluid pressure actuator driving mechanism and control...
- Patent number 8,127,659
- Issue date Mar 6, 2012
- Panasonic Corporation
- Yasunao Okazaki
- F15 - FLUID-PRESSURE ACTUATORS HYDRAULICS OR PNEUMATICS IN GENERAL
Information Patent Grant
Robot, controlling device and controlling method for robot, and con...
- Patent number 8,024,071
- Issue date Sep 20, 2011
- Panasonic Corporation
- Mayumi Komatsu
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Grant
Apparatus and method for robot handling control
- Patent number 7,888,900
- Issue date Feb 15, 2011
- Panasonic Corporation
- Shusasku Okamoto
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Grant
Joint driving device
- Patent number 7,798,036
- Issue date Sep 21, 2010
- Panasonic Corporation
- Yasunao Okazaki
- F15 - FLUID-PRESSURE ACTUATORS HYDRAULICS OR PNEUMATICS IN GENERAL

Patents Applicationslast 30 patents

Information Patent Application
MOBILE ROBOT, CONTROL METHOD, AND STORAGE MEDIUM
- Publication number 20210041888
- Publication date Feb 11, 2021
- Panasonic Intellectual Property Management Co., Ltd.
- Yasunao OKAZAKI
- G05 - CONTROLLING REGULATING
Information Patent Application
ROBOT HAND APPARATUS, ROBOT HAND SYSTEM, AND HOLDING METHOD
- Publication number 20190030727
- Publication date Jan 31, 2019
- Panasonic Intellectual Property Management Co., Ltd.
- TAKAYUKI NAGATA
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
ROBOT HAND APPARATUS, ROBOT HAND SYSTEM, AND HOLDING METHOD
- Publication number 20190030729
- Publication date Jan 31, 2019
- Panasonic Intellectual Property Management Co., Ltd.
- TAKAYUKI NAGATA
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
ROBOT HAND APPARATUS, ROBOT HAND SYSTEM, AND HOLDING METHOD
- Publication number 20190030728
- Publication date Jan 31, 2019
- Panasonic Intellectual Property Management Co., Ltd.
- TAKAYUKI NAGATA
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
ROBOT, METHOD FOR CONTROLLING ROBOT, RECORDING MEDIUM, AND METHOD
- Publication number 20170216120
- Publication date Aug 3, 2017
- Panasonic Intellectual Property Management Co., Ltd.
- YUKO TSUSAKA
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
ROBOT, ROBOT CONTROL METHOD, METHOD, AND RECORDING MEDIUM
- Publication number 20170216119
- Publication date Aug 3, 2017
- Panasonic Intellectual Property Management Co., Ltd.
- YUKO TSUSAKA
- A61 - MEDICAL OR VETERINARY SCIENCE HYGIENE
Information Patent Application
ROBOT, METHOD FOR CONTROLLING ROBOT, AND RECORDING MEDIUM
- Publication number 20170157773
- Publication date Jun 8, 2017
- Panasonic Intellectual Property Management Co., Ltd.
- Yuko TSUSAKA
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
ROBOT SYSTEM, INSTRUCTION INPUT DEVICE, NON-TRANSITORY COMPUTER-REA...
- Publication number 20170035631
- Publication date Feb 9, 2017
- Panasonic Intellectual Property Management Co., Ltd.
- Yuko TSUSAKA
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
STANDING/SITTING MOTION ASSIST SYSTEM, STANDING/SITTING MOTION ASSI...
- Publication number 20170014290
- Publication date Jan 19, 2017
- Panasonic Intellectual Property Management Co., Ltd.
- YUKO TSUSAKA
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
ROBOT, DEVICE AND METHOD FOR CONTROLLING ROBOT, AND COMPUTER-READAB...
- Publication number 20150209961
- Publication date Jul 30, 2015
- Panasonic Intellectural Property Management Co., Ltd.
- MAYUMI KOMATSU
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
ROBOT, ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD, AND ROBOT CON...
- Publication number 20150081099
- Publication date Mar 19, 2015
- Panasonic Intellectual Property Management Co., Ltd.
- Mayumi KOMATSU
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
ROBOT, ROBOT CONTROL DEVICE, ROBOT CONTROL METHOD, AND ROBOT CONTRO...
- Publication number 20140114479
- Publication date Apr 24, 2014
- PANASONIC CORPORATION
- Yasunao OKAZAKI
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
ROBOT, ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD, AND ROBOT CON...
- Publication number 20140107843
- Publication date Apr 17, 2014
- PANASONIC CORPORATION
- Yasunao OKAZAKI
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
CONTROL APPARATUS, CONTROL METHOD, AND CONTROL PROGRAM FOR PNEUMATI...
- Publication number 20130317647
- Publication date Nov 28, 2013
- PANASONIC CORPORATION
- Yasunao OKAZAKI
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
ROBOT, ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD, AND ROBOT CON...
- Publication number 20130151009
- Publication date Jun 13, 2013
- PANASONIC CORPORATION
- Yasunao OKAZAKI
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
CONTROL APPARATUS, CONTROL METHOD, AND CONTROL PROGRAM FOR ELASTIC...
- Publication number 20130000480
- Publication date Jan 3, 2013
- Mayumi KOMATSU
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
CONTROL APPARATUS, CONTROL METHOD, AND CONTROL PROGRAM FOR ELASTIC...
- Publication number 20120133318
- Publication date May 31, 2012
- Mayumi Komatsu
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
ROBOT, CONTROL DEVICE FOR ROBOT, AND CONTROL METHOD OF ROBOT
- Publication number 20120010747
- Publication date Jan 12, 2012
- Yasunao OKAZAKI
- G05 - CONTROLLING REGULATING
Information Patent Application
ROBOT, CONTROL DEVICE FOR ROBOT ARM AND CONTROL PROGRAM FOR ROBOT ARM
- Publication number 20110218676
- Publication date Sep 8, 2011
- Yasunao Okazaki
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
CONTROL APPARATUS AND CONTROL METHOD FOR ROBOT ARM, ASSEMBLY ROBOT,...
- Publication number 20110190932
- Publication date Aug 4, 2011
- Yuko Tsusaka
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
CONTROL APPARATUS AND CONTROL METHOD FOR ROBOT ARM, ROBOT, CONTROL...
- Publication number 20110178638
- Publication date Jul 21, 2011
- Yuko Tsusaka
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
CONTROL APPARATUS AND CONTROL METHOD OF ELASTIC BODY ACTUATOR AS WE...
- Publication number 20110078508
- Publication date Mar 31, 2011
- Mayumi Komatsu
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
ROBOT, AND CONTROL APPARATUS, CONTROL METHOD, AND CONTROL PROGRAM F...
- Publication number 20110029133
- Publication date Feb 3, 2011
- Yasunao Okazaki
- A61 - MEDICAL OR VETERINARY SCIENCE HYGIENE
Information Patent Application
CONTROL APPARATUS AND CONTROL METHOD FOR ROBOT ARM, ROBOT, CONTROL...
- Publication number 20110015785
- Publication date Jan 20, 2011
- Yuko Tsusaka
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
CONTROL APPARATUS AND CONTROL METHOD FOR ROBOT ARM, ROBOT, CONTROL...
- Publication number 20100286826
- Publication date Nov 11, 2010
- Yuko Tsusaka
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
CONTROL DEVICE AND CONTROL METHOD FOR CLEANER, CLEANER, CONTROL PRO...
- Publication number 20100256812
- Publication date Oct 7, 2010
- Yuko Tsusaka
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
ROBOT HAND AND ROBOT ARM
- Publication number 20100207412
- Publication date Aug 19, 2010
- Yasunao Okazaki
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
ROBOT, CONTROLLING DEVICE AND CONTROLLING METHOD FOR ROBOT, AND CON...
- Publication number 20100152896
- Publication date Jun 17, 2010
- Mayumi Komatsu
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
ROBOT ARM CONTROL DEVICE AND CONTROL METHOD, ROBOT, AND CONTROL PRO...
- Publication number 20100114371
- Publication date May 6, 2010
- Yuko Tsusaka
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS
Information Patent Application
APPARATUS AND METHOD FOR CONTROLLING ROBOT ARM, AND ROBOT AND PROGRAM
- Publication number 20100087955
- Publication date Apr 8, 2010
- Yuko Tsusaka
- B25 - HAND TOOLS PORTABLE POWER-DRIVEN TOOLS MANIPULATORS

Yasunao Okazaki

Person

Patents Grantslast 30 patents

Robot hand apparatus, robot hand system, and holding method

Robot hand apparatus, robot hand system, and holding method

Robot hand apparatus, robot hand system, and holding method

Robot, method for controlling robot, recording medium, and method

Robot, robot control method, method, and recording medium

Robot, method for controlling robot, and recording medium

Robot system, instruction input device, non-transitory computer-rea...

Standing/sitting motion assist system, standing/sitting motion assi...

Robot, device and method for controlling robot, and computer-readab...

Robot, robot control device, robot control method, and robot contro...

Robot, robot control apparatus, robot control method, and robot con...

Control apparatus and control method for robot arm, assembly robot,...

Robot, robot control apparatus, robot control method, and robot con...

Control apparatus, control method, and control program for pneumati...

Robot, robot control apparatus, robot control method, and robot con...

Control apparatus and control method of elastic body actuator as we...

Device and method for controlling robot arm, robot, and robot arm c...

Control apparatus, control method, and control program for elastic...

Control apparatus and control method for robot arm, robot, control...

Robot, and control apparatus, control method, and control program f...

Robot, control device for robot, and control method of robot

Control apparatus, control method, and control program for elastic...

Robot, control device for robot arm and control program for robot arm

Control apparatus and control method for robot arm, robot, control...

Control apparatus and control method for robot arm, robot, control...

Robot hand and robot arm

Compressible fluid pressure actuator driving mechanism and control...

Robot, controlling device and controlling method for robot, and con...

Apparatus and method for robot handling control

Joint driving device

Patents Applicationslast 30 patents

MOBILE ROBOT, CONTROL METHOD, AND STORAGE MEDIUM

ROBOT HAND APPARATUS, ROBOT HAND SYSTEM, AND HOLDING METHOD

ROBOT HAND APPARATUS, ROBOT HAND SYSTEM, AND HOLDING METHOD

ROBOT HAND APPARATUS, ROBOT HAND SYSTEM, AND HOLDING METHOD

ROBOT, METHOD FOR CONTROLLING ROBOT, RECORDING MEDIUM, AND METHOD

ROBOT, ROBOT CONTROL METHOD, METHOD, AND RECORDING MEDIUM

ROBOT, METHOD FOR CONTROLLING ROBOT, AND RECORDING MEDIUM

ROBOT SYSTEM, INSTRUCTION INPUT DEVICE, NON-TRANSITORY COMPUTER-REA...

STANDING/SITTING MOTION ASSIST SYSTEM, STANDING/SITTING MOTION ASSI...

ROBOT, DEVICE AND METHOD FOR CONTROLLING ROBOT, AND COMPUTER-READAB...

ROBOT, ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD, AND ROBOT CON...

ROBOT, ROBOT CONTROL DEVICE, ROBOT CONTROL METHOD, AND ROBOT CONTRO...

ROBOT, ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD, AND ROBOT CON...

CONTROL APPARATUS, CONTROL METHOD, AND CONTROL PROGRAM FOR PNEUMATI...

ROBOT, ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD, AND ROBOT CON...

CONTROL APPARATUS, CONTROL METHOD, AND CONTROL PROGRAM FOR ELASTIC...

CONTROL APPARATUS, CONTROL METHOD, AND CONTROL PROGRAM FOR ELASTIC...

ROBOT, CONTROL DEVICE FOR ROBOT, AND CONTROL METHOD OF ROBOT

ROBOT, CONTROL DEVICE FOR ROBOT ARM AND CONTROL PROGRAM FOR ROBOT ARM

CONTROL APPARATUS AND CONTROL METHOD FOR ROBOT ARM, ASSEMBLY ROBOT,...

CONTROL APPARATUS AND CONTROL METHOD FOR ROBOT ARM, ROBOT, CONTROL...

CONTROL APPARATUS AND CONTROL METHOD OF ELASTIC BODY ACTUATOR AS WE...

ROBOT, AND CONTROL APPARATUS, CONTROL METHOD, AND CONTROL PROGRAM F...

CONTROL APPARATUS AND CONTROL METHOD FOR ROBOT ARM, ROBOT, CONTROL...

CONTROL APPARATUS AND CONTROL METHOD FOR ROBOT ARM, ROBOT, CONTROL...

CONTROL DEVICE AND CONTROL METHOD FOR CLEANER, CLEANER, CONTROL PRO...

ROBOT HAND AND ROBOT ARM

ROBOT, CONTROLLING DEVICE AND CONTROLLING METHOD FOR ROBOT, AND CON...

ROBOT ARM CONTROL DEVICE AND CONTROL METHOD, ROBOT, AND CONTROL PRO...

APPARATUS AND METHOD FOR CONTROLLING ROBOT ARM, AND ROBOT AND PROGRAM