PURPOSE: To provide a sensor feedback type robot which stores position information in a given condition and reflects memory data in control operation without stopping movement operation.

CONSTITUTION: A control device for a robot comprises a control part 10A comprising a memory part 13 to store an operation program, a pre-tought position, and posture data and a condition information memory part 14 to store reference data related to the force and toreque of a robot arm, and an operation control processing part 20A having a deciding processing part 25 which compares reference data with a feedback signal from a sensor or a correction amount of an operation locus corrected by means of the feedback signal to discriminate whether memory of the position of the arm and posture data are needed and temporarily stores the position of the arm and posture data in a memory part 26 when the memory is needed.