PURPOSE: To increase the degree of freedom in a manipulator as well as to expand the coverage by inputting a control input out of a control means to be connected to a choice function selected, into a preprocessing controller, and controlling the manipulator after the specified preprocess.

CONSTITUTION: This controller is provided with an end effector E acting on an object A, a manipulator M, plural sensors S detecting force and positions and so on, a preprocessing controller P controlling operations of the manipulator M, plural pieces of choice function means 1a to in to be selected on the basis of acceleration x", speed x' and power-x'f detected by these sensors S, and plural pieces of control means 11a to 11n being installed at each of these choice function means 1a to in, and generating the control input of operations of the manipulator M, respectively. In succession, each control input out of the control means 11a to 1 in connected to the choice function means 1a to 1n according to a fact that those of acceleration x", speed x' and power -x' f are zero or value other than the zero, is inputted into the preprocessing controller P, and control over the manipulator M takes place after the elapse of the specified time.