An operation command generator includes: an area division unit configured to divide a line on a flat work surface of a target workpiece W into a straight area and a corner area, using a sharp boundary surface; a straight area operation command generation unit configured to generate a command for operating only the linear motion mechanism while keeping the posture of the parallel link mechanism fixed, in the straight area; and a corner area operation command generation unit configured to generate a command so that an acting point of the end effector passes on the boundary surface at a substantially constant speed by the linear motion mechanism and the parallel link mechanism performing coordinated operations in the corner area.