Abstract: A method for controlling a first arm (11) and a second arm (12) in an articulated robot comprising said first arm (11) supported rotatably by a main body (1) via a first articulated joint and said second arm (12) supported rotatably by said first arm (11) via a second articulated joint.When a top of said second arm (12) moves from a certain starting point P.sub.i to an end point P.sub.i+1, the angular velocity curve during acceleration and deceleration is determined based on the positional data of the points P.sub.i, P.sub.i+1 in a manner such that the acceleration time and the deceleration time become shortest under such conditions that torques impressed on the motor (13), (14) and the speed reducer (15), (16) do not exceed an upper torque tolerance limit, respectively.By such method, the transfer time can be shortened substantially and reasonably in comparison with the conventional method in which the acceleration and deceleration times are fixed.

Abstract: A cycle timer comprises an angle encoder for converting an mechanical angle information into an electrical angle information, a memory unit for storing timing information and a control program for setting an output if the angle information falls within an on region of predetermined timing information and for resetting the output if the angle information falls within an off region of the predetermined timing information, an arithmetic processing unit for reading out and outputting from the memory a timing condition of the information which has been outputted from the angle encoder, and a latch circuit adapted to be selectively set and reset one at a time in response to the output from the arithmetic processing unit.