The present disclosure provides a motion control method and apparatus and a robot with the same. The method includes: obtaining a first rotational angle P.sub.1 of an output shaft of the servo currently at and a first time T.sub.1 for the output shaft of the servo to perform one rotation; obtaining a second rotational angle P.sub.2 for the output shaft of the servo to reach and a second time T.sub.2 for the output shaft of the servo to rotate from the first rotational angle P.sub.1 to the second rotational angle P.sub.2; calculating a motion curve B(t) of the output shaft of the servo based on the first rotational angle P.sub.1, the second rotational angle P.sub.2, the first time T.sub.1, and the second time T.sub.2; and controlling the servo to rotate according to the motion curve B(t). The present disclosure solves the instability in the gravity center of the robot.

In a synchronization operation instruction of a synchronization control of moving a slave axis at a certain ratio with respect to a master axis movement amount, a master axis movement amount before start of change of a synchronization magnification, used in an operation based on a synchronization magnification changing instruction, is determined by referring to a parameter of the synchronization operation instruction so that the operation based on the synchronization magnification changing instruction ends at a set synchronization start master axis position. With such a configuration, the synchronization control is started based on the synchronization operation instruction from the synchronization start master axis position set in the synchronization operation instruction.

In a synchronization operation instruction of a synchronization control of moving a slave axis at a certain ratio with respect to a master axis movement amount, a master axis movement amount before start of change of a synchronization magnification, used in an operation based on a synchronization magnification changing instruction, is determined by referring to a parameter of the synchronization operation instruction so that the operation based on the synchronization magnification changing instruction ends at a set synchronization start master axis position. With such a configuration, the synchronization control is started based on the synchronization operation instruction from the synchronization start master axis position set in the synchronization operation instruction.