PURPOSE: To improve operability by setting a moving time between taught two points, calculating the speed of a robot main body and a robot outside shaft from the moving distance and operating programming when it is moved between the two points, and operating the robot main body and the robot outside shaft.

CONSTITUTION: At the time of welding a distance(distance LW) between points A and B on an object, the operation of the fingers of a robot is the operation of a vector AC(length LR) against a still coordinate, the operation of the object on a turn table is the operation of a vector DA(length LA) against the still coordinate. Then, the designated speed of the robot main body and the robot outside shaft is searched in order to set a welding speed(speed between the points A and B) to be a prescribed value. At this time, the moving speed between the points A and B is designated by the moving time. The distance between the points A and B is necessary for searching the moving time, and the distance between the points A and B can be measured so that the moving time can be easily calculated. Thus, the speed of the robot main body and the robot outside shaft is calculated according to the operating program, and the operation is controlled.