PURPOSE: To arbitrarily assign the point of time to start a transfer when transferred a robot from one moving action to the other moving action.

CONSTITUTION: A next point of time command position of moving action is calculated in a command position generating means 23 from a present position and objective position and stored in a next point of time command position A buffer 24. When a transfer signal receiving means 35 is recognized to receive a transfer start signal from a peripheral equipment by a transfer supervising means 26, a next point of time command position of the other moving action is calculated in a command position generating means 29 and stored in a next point of time command position B buffer 30. The two next point of time command positions are synthesized in a next point of time synthetic command position generating means 32 and stored in a next point of time command position buffer 33.