To easily control the operation of a robot by using an ordinary word, to easily sub-routinize repetitive operation, to complicate movement by a parameter of this sub-routine, and to easily indicate mutually opposite directional operation by classifying the operation in three directions of a three-dimensional space.

A code is classified in the three directions in the three- dimensional space in an operation table having a code corresponding to an operation indicating language, and is arranged in accordance with a part of the robot. The parameter of the sub-routine extracts a command in the sub-routine in accordance with the direction, and can perform mutually opposite operations.