bus respectively the present invention will then be explained as to an aspect of action of the robot employed in the embodiment fig1 shows an operational flow chart at the time of 34 teaching 34 in this 34 teaching 34 thoughtful consideration is paid to enable the operator to obtain appropriate data suited to the required process accuracy without keeping close watch on the timing of a sampling operation fitted for the process accuracy required initially let it be supposed that a start instruction of the 34 teaching 34 mode is now given to the robot a microprocessor 51 will then act to set up 34 0 34 to a pointer 56 and to specify the no 34 0 34 address in the table 52 thereupon gripping and moving the handle 43 to travel the abrasive tool 18 on an optional locus the work will then be initiated at this time if the abrasive tool is moved to a direction shown by the arrow 34 a 34 a microswitch 48 will turn to 34 on 34 and actuate to set the flip flop 57 but if the abrasive tool 18 is moved to a direction 34 b 34 a microswitch 49 will turn to 34 on 34 and actuate to set the flip flop 58 and if the abrasive tool is moved to a certain direction no 1 arm 8 will start to turn centering around the main axis 7 with the motion.