Robot controller with parallel processing of plural weighted position data which is combined at output to form a single command

A robot controller comprising:

• movement command forming means for specifying generation of a plurality of movement object positions of a robot in response to an operating instruction;
• object position variable forming means for correcting a plurality of movement object positions specified by said movement command forming means to provide object position variables;
• object position variable compressing/enlarging means for weighting a plurality of object position variables with weight functions representing dependencies of said object positions in movement to said object positions;
• a plurality of position control means for receiving said plurality of object position variables weighted by said compressing/enlarging means to perform speed control and position control in said movement;
• object position command means including a position command adding section for adding output signals of said plurality of position control means to output an object position command;
• and
• a drive section for outputting signals to drive said robot according to object position commands outputted by said object position command means.