A robot control apparatus, having a plurality of actuators, and changing a plurality of control positions for the actuators for each predetermined control cycle for shifting a tool of a robot from a movement starting point to a movement ending point along a desired trajectory, the control apparatus, being applied in moving the tool along a synthesized trajectory where at least two operations are synthesized in the middle of the desired trajectory, and comprising: virtual operation starting/ending point searching means adapted to search a virtual operation starting/ending point such that a virtual operation ending point for a preceding operation to be performed before the tool getting into the synthesized trajectory matches a virtual operation starting point for a succeeding operation to be performed after the tool getting out of the synthesized trajectory; control position calculation means adapted to calculate a plurality of control positions for the preceding operation for implementing the preceding operation from an initial position to a terminal position, and to calculate a plurality of control positions for the succeeding operation for implementing the succeeding operation from an initial position to a terminal position such that the preceding operation is ended at the virtual operation starting/ending point, and the succeeding operation is started from the virtual operation starting/ending point temporally before the preceding operation being ended; actuator target control position calculation means adapted to calculate, with a requirement that the initial positions of the plurality of control positions for the succeeding operation be matched to the terminal positions of the plurality of control positions for the preceding operation, a plurality o f target control positions for a control cycle for the plurality of actuators in a section where the tool is moved along the synthesized trajectory, on the basis of a plurality of values obtained by adding a value of a difference between the control position for said control cycle and the control position for a previous control cycle for the preceding operation to a value of a difference between the control position for said control cycle and the control position for a previous control cycle for the succeeding operation; and control means adapted to control the plurality of actuators such that the calculated target control positions are attained, thereby the tool being moved along the synthesized trajectory. virtual operation starting/ending point searching means adapted to search a virtual operation starting/ending point such that a virtual operation ending point for a preceding operation to be performed before the tool getting into the synthesized trajectory matches a virtual operation starting point for a succeeding operation to be performed after the tool getting out of the synthesized trajectory; control position calculation means adapted to calculate a plurality of control positions for the preceding operation for implementing the preceding operation from an initial position to a terminal position, and to calculate a plurality of control positions for the succeeding operation for implementing the succeeding operation from an initial position to a terminal position such that the preceding operation is ended at the virtual operation starting/ending point, and the succeeding operation is started from the virtual operation starting/ending point temporally before the preceding operation being ended; actuator target control position calculation means adapted to calculate, with a requirement that the initial positions of the plurality of control positions for the succeeding operation be matched to the terminal positions of the plurality of control positions for the preceding operation, a plurality o f target control positions for a control cycle for the plurality of actuators in a section where the tool is moved along the synthesized trajectory, on the basis of a plurality of values obtained by adding a value of a difference between the control position for said control cycle and the control position for a previous control cycle for the preceding operation to a value of a difference between the control position for said control cycle and the control position for a previous control cycle for the succeeding operation; and control means adapted to control the plurality of actuators such that the calculated target control positions are attained, thereby the tool being moved along the synthesized trajectory.