Patent ID: 7937185

Claim:
A robot controller that controls motions of a robot when switching motion of the robot from a first motion that is defined by a first time series of a plurality of first postures, which the robot is currently performing, to a second motion that is defined by a second time series of a plurality of second postures, the robot controller comprising: a storage unit that stores second posture information indicative of the second postures of the robot in the second motion at respective time points in the second time series, a posture information acquiring unit that acquires the second posture information from the storage unit on receiving an order of switch from the first motion to the second motion; a selecting unit that selects a second posture of the robot from the second posture information, the second posture having an angle of joints closest to an angle of joints in a first posture of the robot in the first motion before switching of motions and being different from a subsequent first posture within the first time series of the plurality of first postures in the first motion, and a motion control unit that controls switching of the motion of the robot from the first motion to the second motion based on the selected second posture, wherein the posture of the robot is defined by angles of joint at a certain point in time.