We have proposed an architecture for easily constructing a robot controller. A controller has 7 agents and 3 databases. Agents are Man-Machine Interface, Task Planner, Motion Planner, Arm Controller, Visual Vision System, and CG Display. And databases are Work Knowledge Database, Environment Database and Robot Database. We construct this controller in C language easily as a function library such an Open GL(Open Graphics Library). A feature of this controller is one which can operate by command of task level. And also, the robot can work other tasks if we add only databases. This paper shows a Robot Controller Architecture as a sample of executing a task "Pick And Place".