Abstract: To enable the free setting of an acceleration and deceleration pattern free from the amount of movement and the movement time a numerical control method controls the operation of a controlled object by a target function. The computes the target function Y(t) by an amount of change .DELTA.Y.sub.t, a normalized target function y(t), and correction values .beta., .delta., defined as: and the parameters .beta..sub.a and .beta..sub.

Abstract: To enable the free setting of an acceleration and deceleration pattern free from the amount of movement and the movement time a numerical control method controls the operation of a controlled object by a target function. The method which computes the target function Y(t) by an amount of change .DELTA.Y.sub.t, a normalized target function y(t), and correction values .beta., .delta.

Abstract: To control the operation of an actuator in the minimum time and with a high efficiency for an operation of a short pitch. A numerical control method for controlling the operation of at least one actuator by a servo circuit having a certain characteristic. The numerical control method is characterized in that an eigen value (.beta.) by which an amount of movement up to an eigen acceleration and deceleration time (Tp) of the servo circuit becomes one-half of a target amount of movement (.DELTA..theta.) which is input and a step signal of a value (.beta..multidot..DELTA..theta.) obtained by multiplying this eigen value with the target amount of movement is input to the servo circuit, whereby the operation of the actuator during a time from at least the start of the operation to the eigen acceleration and deceleration time is controlled.

Abstract: An apparatus and a method for generating acceleration and deceleration patterns for control of a robot in a servo system which is equipped with a plurality of driving axes so constituted as to mutually exert dynamic interference, in such a manner that a synchronism is attained at acceleration start points, velocity peak points and deceleration end points in the patterns for the individual driving axes. Peak time calculating means responds to the information relative to dynamic parameters from constant setting means and command means, and calculates the peak time, which is required until the velocity reaches its peak after the pattern generation start point, from the kinetic energy consumed for each displacement and also from the power distribution relative to the driving sources.