A robot control system 2 for controlling a position and an attitude of a robot head 1a is provided with an operating head 3 held by an operator and a sensor 4 for detecting a position and an attitude of the operating head. An attitude recognition portion 24 of the control means recognizes an initial attitude of the operating head when a control switch 12 provided at the operating head is turned on, and acquires a displacement vector from the initial attitude by a change in the attitude of the operating head. An attitude conversion portion 25 converts the displacement vector from the initial attitude to a displacement vector from the reference attitude corresponding to a predetermined reference attitude, and the control means makes the attitude of the robot head follow the displacement vector from the reference attitude. In whatever attitude the operator holds the operating head, the position and the attitude of the robot head can follow the change in the position and the attitude of the operating head.