PURPOSE: To prevent the cable of an end effector from being broken by stopping the control of a robot when the sum of the articular angles of a turning shaft reaches the preset limit value.

CONSTITUTION: The articular angle is respectively obtained from the given command (1) of the position and attitude by the reverse kinetic conversion (2). The joints other than turning shafts W1, W3 compare the obtained value with the respective limit value (3), and if the obtained value exceeds the limit value (4), the control of the robot is stopped(5). At the same time, the sum of the articular angles of the turning shafts W1, W3 is obtained and compared with the limit value of the preset sum of the articular angles (6), and when the sum exceeds the limit value (7), the control of the robot is stopped (5). Thus, when the rotational angle viewed from the wrist position of the hand exceeds ±πrad., the winding of the cable around the hand which may lead to the cutting can be prevented thereby.