PURPOSE: To provide an industrial robot control device that can be taught easily even in the case of the shape of a workpiece being complicated.

CONSTITUTION: (a) is the case of the tip of a gun moving normally from a point P1 to a point P2. When a mask area is set between the point P1 and the point P2, the tip of the gun moves in one of three kinds of moving ways shown in (b). In (b), 'paint jet stop' is a process of moving remaining on the same track while stopping the paint jet of the gun in the mask area, 'mask 1' is a process of taking shelter from the mask area along the periphery of the mask area, and 'mask 2' is a process of taking shelter from the mask area using a smooth track.