Patent ID: 7129664

Claim:
A robot controller comprising: a movement arithmetic unit configured to calculate a plurality of movement positions respectively corresponding to predetermined control time intervals when a standard moving part installed on a multi-axial robot is moved from a first position to a second position along a predetermined movement route; a control unit configured to control said robot by deciding each of axial movement amounts of said robot for sequentially moving said standard moving part to each of said movement positions at each of said control time intervals; an information storage unit configured to store a setting position relating information for deciding a setting position to be set on said movement route and an operation content information about an operation content to be performed when said standard moving part passes through said setting position; a setting position calculation unit configured to calculate said setting position based on said setting position relating information stored in said information storage unit; and an operation content execution unit configured to execute said operation content corresponding to said setting position base on said setting position relating information stored in said information storage unit when judging that said movement position, where said standard moving part exists, passes through said setting position during a control of said robot by said control unit based on a calculation result of said movement arithmetic unit.