PURPOSE: To provide a robot control device wherein a neural network can be automatically studied by a fixed period even in operation of a robot.

CONSTITUTION: An articulatory angular vector Θa of a robot corresponding to its target position matrix Mn, held in a target position matrix Mn input part 501, is calculated in a coordinate reverse transformation fa arithmetic part 503, and based on this srticulatory angular vector Θa, the robot is controlled by a robot control part 511. A position of the robot controlled by the control part 511 is measured by a robot point end position automatic measuring unit 51, and a correction matrix ΔMm for correcting a target position from this measured position and the robot target position matrix Mn is calculated in a correction matrix ΔMm arithmetic part 515. In a neural network 509, a study with the articulatory angular vector Θa serving as an input data and the correction matrix ΔMm serving as a teacher data is performed in a preset frequency even in operation of a robot control unit.