PURPOSE: To correct the position of a robot to an exact target position after the operation of the robot is started toward the target position.

CONSTITUTION: The robot controller 50 is composed of a set point generator part for calculating a track based in input data Da on prescribed conditions and a set point generator part for providing one of accelerated speed, equal speed and decelerated speed by executing its operation at every unit time based on the calculated result from the transient replanner part. On the other hand, the set point generator part is composed of a first arithmetic means 521 for calculating the track based on the input data Da, storage means 522 for storing the results executed by the first arithmetic means 521 up to the present moment, and second arithmetic means 523 for changing and outputting remaining operation amounts based on the stored result of the storage means 522 and data Db for correction when the data Db for correction are inputted by enabling the fetch of the data Db for correction.