A robot control device drives a J1 shaft, which is a turning shaft for turning a structure at an installation bed, to an angle at a target position of the J1 shaft and drives a J4 shaft for turning a structure such that the central axes of a J2 shaft, a J3 shaft, and a J5 shaft, which are bending/stretching shafts for bending or stretching the structure, are parallel to one another; then, drives the J2 shaft, the J3 shaft, and the J5 shaft to angles J2e, J3e, and J5e at target positions of the respective shafts without driving the J4 shaft; and drives the J4 shaft not reaching an angle at a target position to an angle J4e at the target position.