Robot controller

A robot controller configured to control an articulated robot, the articulated robot having a plurality of basic joints that change a position of a wrist unit, and a plurality of wrist joints that change a position and posture of a control point set in the wrist unit or in an end effector connected to the wrist unit, the robot controller comprising:

• a control unit configured to cause the control point to move from a first position to a second position by controlling the plurality of basic joints and the plurality of wrist joints;
• and
• a position information recording unit configured to record position information that includes a position of the second position and rotation angles to which the plurality of wrist joints are rotated when the control point is positioned at the second position,
• wherein, in a case where posture of the wrist unit when the control point is at the second position is not a singular point, the control unit causes the plurality of basic joints and the plurality of wrist joints to perform straight-line motion in a coordinated manner so as to move the control point to the second position along a straight line, and
• in a case where the posture of the wrist unit when the control point is at the second position is a singular point, the control unit causes the plurality of wrist joints to perform each-joint controlling motion without coordination so as to move the control point to the second position.