A robot locus control method includes the steps of calculating the position and attitude of an end tool of a robot on the basis of a local-coordinate system set based on a fixing point out of the robot, and transforming the position and attitude of the end tool on the basis of the local-coordinate system, into the position and attitude of the end tool on the basis of a robot-base coordinate system set on the robot, based on a relationship between the local-coordinate system and the robot-base coordinate system.