PURPOSE: To provide a double arm robot manipulator controller having a logic structure which is opened so that the progress of the hardware technique can be taken in.

CONSTITUTION: A central control unit 100 for management-controlling the whole of a robot manipulator system is arranged, and at least five data bus systems are arrange on the periphery. At first, two data busses 2 and 3 are connected with a device for mechanically controlling the left and right robot manipulators. Others consist of a data bus 4 on the side for driving a device, etc., for recognizing the environment of a robot, data bus 5 for a processing device for the output data of the device for recognizing the environment, and a bus 1 connected with an input/output device for the data supplied from an operator, voice input/ output device, memory device for memorizing the instruction program of the robot manipulator, and a robot simulator device for three-dimensional graphic.