A self-traveling articulated robot for working in a production factory , comprising: a carriage having at least two operation shafts driven by servomotors , 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 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 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 when the carriage reference point is at a predetermined reference work position. a carriage having at least two operation shafts driven by servomotors , 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 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 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 when the carriage reference point is at a predetermined reference work position. <EOS>