PURPOSE: To shorten a teaching work by performing a reciprocating operation by controlling the robot main body based on the reciprocating operation program by forming the reciprocating program by adding after a teaching program by reversely re-arranging the data of the teaching program formed by a teaching operation in advance.

CONSTITUTION: A reciprocating operation program is formed by adding the data of the teaching program formed by teaching or a corrected operation, etc., after the teaching program by re-arranging the data reversely. A robot main body 1 is controlled based on this reciprocating operation program to perform the reciprocating operation. Consequently, in performing the reciprocating operation on the same route 4 by the robot main body 1, the forward operation only may be teached or corrected.