PURPOSE: To eliminate the need for teaching through prediction of the locus error of a robot by a teaching worker and to shorten the time in teaching, by correcting teaching and data automatically for compensating the delay factor of the robot.

CONSTITUTION: An arithmetic processing device 7 reads displacements (teaching/ data) A1, A2... An and a locus B from a memory 8 at actual painting time. The locus S corrected by delay times Δt1, Δt2... Δtn is then found after finding respectively the delay times Δt1, Δt2... Δtn between the displacements A1, A2... An of the locus A and locus B at times t1, t2... tn. This arithmetic processing device 7 outputs to a servo amplifier 10 via a D/A convertor 9 the corrected teaching data which is the displacement data of each point of this locus S. This amplifier 10 finds the signal S3 fed from this convertor 9 and the deviation signal S4 from the positional signal S2 fed from an input circuit 5, feeding this signal S4 to an actuator 3 and driving a manipulator 1.