A robot control method for performing processing on a workpiece on a processing line using a work tool and a sensor mounted on the processing advancing direction side of the work tool and wherein the sensor is detecting the shape of the workpiece; the robot control method comprising: a) setting, in advance of the processing of the workpiece,a first teaching point, a second teaching point, a third teaching point, a fourth teaching point, and a fifth teaching point on the processing line for the workpiece,to create a teaching program, wherein each of the first teaching point, the second teaching point, the third teaching point, the fourth teaching point, and the fifth teaching point corresponds to a position of the work tool during processing of the workpiece in a process advancing direction on the processing line, wherein the third teaching point is a bent point in the processing line;and wherein the work tool is taught to move retaining a certain attitude relative to the workpiece from first teaching point to second teaching point and from fourth teaching point to fifth teaching point, while the attitude of the work tool is successively changed from the second teaching point to the fourth teaching point via the third teaching point; b) a first processing of performing the processing on the workpiece using the work tool from the first teaching point to a first modified point (P2b) on the process line reached as a result of applying a profile modifying control to change a position of the work tool based on the second teaching point [original description page 3, lin. 18-23] and the shape of the workpiece detected by the sensor; c) changing, by adding the same amount of difference between the second teaching point and the first modified point (P2b), the third teaching point to a second modified point (P3b), the fourth teaching point to a third modified point (P4b), and the fifth teaching point to a fourth modified point (P5b); d) a second processing of performing the processing on the workpiece using the work tool from the first modified point (P2b) through the second modified point (P3b) to the third modified point (P4b); wherein the attitude of the work tool is changed based on the teaching program created in step a) and stored in the robot, and e) a third processing of performing the processing on the workpiece using the work tool from the third modified point (P4b) to the fourth modified point (P5b). a) setting, in advance of the processing of the workpiece,a first teaching point, a second teaching point, a third teaching point, a fourth teaching point, and a fifth teaching point on the processing line for the workpiece,to create a teaching program, wherein each of the first teaching point, the second teaching point, the third teaching point, the fourth teaching point, and the fifth teaching point corresponds to a position of the work tool during processing of the workpiece in a process advancing direction on the processing line, wherein the third teaching point is a bent point in the processing line;and wherein the work tool is taught to move retaining a certain attitude relative to the workpiece from first teaching point to second teaching point and from fourth teaching point to fifth teaching point, while the attitude of the work tool is successively changed from the second teaching point to the fourth teaching point via the third teaching point; b) a first processing of performing the processing on the workpiece using the work tool from the first teaching point to a first modified point (P2b) on the process line reached as a result of applying a profile modifying control to change a position of the work tool based on the second teaching point [original description page 3, lin. 18-23] and the shape of the workpiece detected by the sensor; c) changing, by adding the same amount of difference between the second teaching point and the first modified point (P2b), the third teaching point to a second modified point (P3b), the fourth teaching point to a third modified point (P4b), and the fifth teaching point to a fourth modified point (P5b); d) a second processing of performing the processing on the workpiece using the work tool from the first modified point (P2b) through the second modified point (P3b) to the third modified point (P4b); wherein the attitude of the work tool is changed based on the teaching program created in step a) and stored in the robot, and e) a third processing of performing the processing on the workpiece using the work tool from the third modified point (P4b) to the fourth modified point (P5b).