PURPOSE: To precisely control the operation of a robot on the basis of a model which is flexible to specification alterations of operation by using partial models which are small in information processing quantity as operation model and easily generated.

CONSTITUTION: The action of a manipulator is divided into plural partial models for every partial feature part of a work and stored in a model storage part 1, and a sensing device 2 senses the operation state of the robot 6 for the partial feature parts of the work. Then, local operation schedules by the partial feature parts of the work are generated at an operation schedule part 3 on the basis of state information S2 obtained by the sensing device 2 and partial model information S1 stored in the model storage part 1 and then integrated to generate the operation schedule of the manipulator.