A robot control method capable of eliminating any influence of motion in a preceding path section to assure an accurate path movement with respect to a portion of a path section toward an end point. In a motion statement, a path-assurance section is previously designated in terms of length, time or path-assurance ratio for a moving path �2!.fwdarw.�3!. A path motion plan EFGH for the moving path �2!.fwdarw.�3! is created so that a path section represented by DHGK is the path-assurance section designated in the motion statement, assuming that D represents a terminal point of the motion along the moving path �1!.fwdarw.�2!. Consequently, an influence of motion of the moving path �1!.fwdarw.�2! is not exerted on the motion after a point in time represented by D or K, to assure a movement on the path �2!.fwdarw.�3! in the path-assurance section.