1. A robot drive controller comprising a task-switching means for performing pre-emptive multi-tasking and a real time control means for controlling said task-switching means to switch tasks in response to an occurrence of an event such that processing of said event is executed in real time, wherein said real time control means includes means for detecting events on a regular basis at fixed time intervals sufficient for the execution of real time processing, and an event drive means for performing event drive processing and for directing said task-switching means to switch to a task which executes processing associated with an event detected by said detecting means, and wherein said real time control means responds to events including a change in hardware resources of a robot controlled by said controller, a change in an output data group which enables a program for controlling robot manipulator actions, and a change in an output data group which enables peripheral devices to perform synchronization and communication.