Robot controller

A robot controller for correcting a target position of a robot hand based on a position of a workpiece detected by a visual sensor to thereby move said robot hand toward or away from said workpiece (W), comprising:

• a path pattern storage means for storing a plurality of path patterns including an approaching path along which said robot hand approaches a specific target position and a leaving path along which said robot hand leaves the specific target position, said specific target position being predetermined in order to define the approaching path and the leaving path for said robot hand,
• wherein said robot controller selects one of the plurality of path patterns stored in said path pattern storage means, based on the position of said workpiece detected by said visual sensor, modifies the selected path pattern so that the target position of said robot hand is coincident with the position of the workpiece detected by said visual sensor, defining the modified path pattern as revised approaching and leaving paths, and moves said robot hand along the revised approaching path and leaving paths.