Abstract: A reinforcing unit that is mounted on a main body frame includes a beam material, and one or more reinforcing members that are mounted on an outside of the beam material, in which the beam material substantially has a continuously closed cross-sectional shape that includes an inner surface portion that is provided on a frame side where the main body frame is located, an outer surface portion that is provided on a counter-frame side that is a side opposite to the main body frame, and a side surface portion that connects the inner surface portion and the outer surface portion, and the reinforcing member restrains bulging deformation of the side surface portion in a case where an impact load is input to the outer surface portion.

Abstract: A modeling operation of a shape of a work (3) is performed by a CAD (1). A tool path calculation section (15) calculates path data having, as an attribute, position and force information by a fuzzy inference or the like by shape information, machining information and machined surface information. A machining program is produced on the basis of the path data in a machining program producing section (17). Orbit data for every renewal cycle Tm concerning the position, posture, force and moment are calculated in a position and/or force operation planning section (19) and a position and/or force orbit producing section (21). Then, a simultaneous feedback control is performed for the position and the frictional force in a controlling section (23).