A system for controlling articulated robot wherein a cycle which receives serial data from an external instruction device and a cycle which reversely converts the received serial data into correction data on each of the axes from orthogonal coordinates and distributes them, are executed in parallel by first and second operation units (CPU-a, CPU-b) in a robot control unit which is served with control target information on the articulated robot via a serial interface (11), in order to produce in real time a robot drive instruction that corresponds to said control target information maintaining a sufficiently short interpolation interval, and in order to control the operation of each of the axes.
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