A robot control system includes: an end effector for acting upon an object to be worked; a manipulator mechanically supporting the end effector to apply predetermined movements to the end effector; a plurality of sensors mounted on the end effector to detect a position (x) of the end effector and a force (f) between the end effector and the object and to obtain an acceleration speed (x"), a speed (x') and a work rate (-x'f) of the end effector; a pre-controller for controlling movement of the end effector and the manipulator; a plurality of selection function units connected in parallel to the pre-controller and at least one of the selection function units being selected in accordance with the acceleration speed (x"), the speed (x') and the work rate (-x'f); and a plurality of control units each connected to a corresponding selecting function unit for inputting a target trajectory (x.sub.d) of the end effector and for outputting a control signal (u) to the pre-controller to control movement of the end effector and the manipulator; wherein, the selection function unit is selected in accordance with a value of either "0" or "other than 0" of the acceleration speed, the speed and the work rate; and the control signal from the control unit corresponding to the selection function unit is input to the pre-controller to control movement of the end effector and the manipulator through the selection function unit.