PURPOSE: To model the controller for a robot and its peripheral device and develop a control program, and to control the robot and peripheral device actually in real time while performing accurate simulation execution operation.

CONSTITUTION: This controller has an input means for inputting models for the robot 23 and peripheral device 31, an execution means 9 which performs simulation execution based on the models for the robot 23 and peripheral device 31, a check means 10 which checks interference between models, a display means 14 which displays information on the simulation execution, input/output means 18 and 19 which control controllers 21 and 22 for the robot 23 and peripheral device 31, a describing means 3 which describes the control procedure of the robot 23 and peripheral equipment 31, a control means 2 which performs control based on the control procedure of the robot 23 and peripheral device 31, a comparing means 2 which compares the simulation execution with actual control, a time measuring means 7 which measures the actual time of individual input and output by the control procedure of the robot 23 and peripheral device 31, and a time matching means 2 which matches the measured actual time of the input and output with the input and output time of the execution means 9.