Robot controller having function to simplify teaching operation and improve motion performance of robot

A robot controller for controlling a robot which is operated in a predetermined working region while correcting a position and orientation of the robot, comprising:

• a storing part which stores a reference motion pattern of the robot;
• an inputting part which designates at least one of a working start region in which a motion of the robot based on the reference motion pattern is initiated and a working end region in which the motion of the robot based on the reference motion pattern is terminated;
• an automatic generating part which automatically generates a plurality of motion patterns of the robot based on the reference motion pattern stored in the storing part and divided regions formed by dividing a working region designated by the inputting part at a predetermined resolution;
• and
• a learning control part which learns a motion speed-up ratio for speeding-up the motion of the robot by changing a velocity or acceleration in relation to each motion pattern automatically generated by the automatic generating part.