Controller of mobile robot

A controller for an associated mobile robot, the controller configured to control the associated mobile robot to make the associated mobile robot perform a task of moving an associated object so as to make a position on the associated object of a representative point of the associated object and a posture of the associated object follow a desired position trajectory and a desired posture trajectory, respectively, in the state of contacting a distal portion of an arm of the associated robot to a predetermined portion adjacent to one end of the associated object, the controller comprising:

• an object representative point setter configured to variably set a position of the representative point of the associated object in an object coordinate system fixed with respect to the associated object and oriented perpendicularly to a yaw axis, the object representative point setter configured to variably set the position of the representative point of the associated object based on a change in a desired posture about the yaw axis in the desired posture trajectory,
• wherein the controller is configured to make the associated robot perform the task of moving the associated object so as to make the position on the associated object of the representative point of the associated object, which is variably set by the object representative point setter, and the posture of the associated object follow the desired position trajectory and the desired posture trajectory.