A self-traveling articulated robot for working in a production factory, comprising: a carriage having at least two operation shafts driven by servomotors (85a, 85b), respectively, and self-travelable in a two-dimensional plane; a robotic arm (2 A, 2 B) supported by the carriage and having at least one operation shaft driven by a servomotor (91 A, 91 B, 93 A, 93 B) and constituting a joint; an end effector provided to a tip portion of the robotic arm (2 A, 2 B); and a control unit provided in the carriage and for controlling the operation shaft of the robotic arm (2 A, 2 B) and the operation shafts of the carriage, wherein the control unit is configured to perform: a working mode in which the control unit generates positioning commands with respect to the operation shaft of the robotic arm (2 A, 2 B) and the operation shafts of the carriage and supplies drive currents corresponding to the positioning commands to the servomotor (91 A, 91 B, 93 A, 93 B) of the robotic arm (2 A, 2 B) and the servomotors (85a, 85b) of the carriage to control positions of the operation shaft of the robotic arm (2 A, 2 B) and the operation shafts of the carriage in a three-dimensional space; and a traveling mode in which the control unit is configured to control positions of the operation shafts of the carriage in the two-dimensional plane such that a carriage reference point defined in one of the carriage, the robotic arm (2 A, 2 B), and the end effector reaches a target position, characterized in that the control unit is configured to operate the robotic arm (2A, 2B) and the carriage in the working mode such that a control point defined in one of the robotic arm (2 A, 2 B) and the end effector reaches a target position through a prestored track by cooperation of the operation shaft of the robotic arm (2 A, 2 B) and the operation shafts of the carriage so that the control point reaches the target position that is a position outside a movable range of the robotic arm (2A, 2B) when the carriage reference point is at a predetermined reference work position. a carriage having at least two operation shafts driven by servomotors (85a, 85b), respectively, and self-travelable in a two-dimensional plane; a robotic arm (2 A, 2 B) supported by the carriage and having at least one operation shaft driven by a servomotor (91 A, 91 B, 93 A, 93 B) and constituting a joint; an end effector provided to a tip portion of the robotic arm (2 A, 2 B); and a control unit provided in the carriage and for controlling the operation shaft of the robotic arm (2 A, 2 B) and the operation shafts of the carriage, a working mode in which the control unit generates positioning commands with respect to the operation shaft of the robotic arm (2 A, 2 B) and the operation shafts of the carriage and supplies drive currents corresponding to the positioning commands to the servomotor (91 A, 91 B, 93 A, 93 B) of the robotic arm (2 A, 2 B) and the servomotors (85a, 85b) of the carriage to control positions of the operation shaft of the robotic arm (2 A, 2 B) and the operation shafts of the carriage in a three-dimensional space; and a traveling mode in which the control unit is configured to control positions of the operation shafts of the carriage in the two-dimensional plane such that a carriage reference point defined in one of the carriage, the robotic arm (2 A, 2 B), and the end effector reaches a target position, characterized in that the control unit is configured to operate the robotic arm (2A, 2B) and the carriage in the working mode such that a control point defined in one of the robotic arm (2 A, 2 B) and the end effector reaches a target position through a prestored track by cooperation of the operation shaft of the robotic arm (2 A, 2 B) and the operation shafts of the carriage so that the control point reaches the target position that is a position outside a movable range of the robotic arm (2A, 2B) when the carriage reference point is at a predetermined reference work position.