PURPOSE: To actualize weaving of automatic welding on the side of the manipulator and to easily alter it.

CONSTITUTION: This controller is equipped with a main track calculating means 1 which calculates the main track of the arm tip part of the manipulator from instruction data (P1, P2,..., Pn), an offset data setting means 2 which sets data (a, b, c, d, e) of periodical offsets to the main track 20, and a waving track calculating means 3 which calculates a weaving track 21 from the offset data. Further. this controller is equipped with a composite track generating means 4 which generates a composite track 23 by adding the weaving track 21 to the main track 20 at a specific tilt (e), a work surface converting means 5 which converts the work surface of the composite track, and a command means 6 which sends commands to respective manipulator shafts according to the composite track 24 after the work surface conversion and the current position and attitude of the manipulator arm tip part.