PURPOSE: To provide a robot control device by which the fingers of a robot can be moved based on a tool coordinate system when operation command is given based on the tool coordinate system, even if the robot has degree of freedom lower than six degree of freedom.

CONSTITUTION: This robot control device is provided with a buffer 36 to memorize the position and posture when command for starting jog operation is given from a operational direction command detector, a means 20 to generate a speed pattern for each control cycle in the direction indicated by the jog operation command, an integrator 25 to integrate the output of the speed pattern generator 20 from starting, a means 35 to convert the integrated value into a base coordinate system, and an adder 45 to add the integrated value transformed in the coordinate system to the content of posture buffer on the operation beginning position, and the output of the adder is considered the position/posture command value.