Patent ID: 7925382

Claim:
A robot controller for controlling a robot including a robot arm having a free end, and drive shafts, comprising: an input device that accepts entered angular displacements by which the drive shafts of the robot arm are to be turned and position-attitude data indicating a position of the free end of the robot arm and an attitude of the robot in a rectangular coordinate system; a correcting device that corrects the position-attitude data entered by the input device based on predetermined and stored inherent errors in the robot; wherein the predetermined and stored inherent errors include at least one of a machining error, an assembling error, an error in origins of axes and an error by a deflection of the robot; an inverse conversion device that converts corrected position-attitude data corrected by the correcting device into angular displacements through an inverse conversion; and an instructing device that selects either the angular displacements entered by the input device or the angular displacements obtained through the inverse conversion by the inverse conversion device in accordance with a predetermined condition and instructs the robot of selected angular displacements.