To prevent braking impossibility even if an external computer gets out of order, by setting the moving position of a robot arm by the external computer to be sent to a control device of a robot, moving to a desired position by performing a required number of times to the preset position, and teaching the position.

When the data of a target position is transmitted from a personal computer 16 side to a CPU 8 of a robot, an operation pattern is computed, and a driving signal is given to a driving circuit 9 to start the operation of servo motors 6, 7. During this operation, CPU 8 computes the passing position of an arm after the lapse of designated short time according to the operation pattern, compares the computing result with the current position of the arm input from a position detecting circuit 10, and gives a driving signal according to a deviation to a driving circuit 9, and it repeats the above operation. By this operation, the feedback control is conducted to move the arm in an operation pattern, and when the arm reaches the target position, the output of a driving signal is stopped to stop the arm.