Robot and robot controller

A robot controller for controlling a robot, the robot having a movable arm and an angular velocity sensor provided at the arm, the robot controller comprising:

• a servo circuit configured to perform vibration suppression control based on a detection result of the angular velocity sensor;
• and
• an operation mode setting unit that sets an operation mode of the robot, the operation mode including a first operation mode, a second operation mode prioritizing speed;
• and a third operation mode prioritizing vibration suppression, wherein:
• the operation mode setting unit changes a correction factor multiplied by a maximum acceleration and a maximum deceleration of the arm and a servo gain of the servo circuit, and selectively sets the operation mode as one of the first operation mode, the second operation mode in which the arm operates faster than in the first operation mode, and the third operation mode in which the arm vibrates less than in the first operation mode.