| 摘要 |
PCT No. PCT/JP96/01915 Sec. 371 Date Mar. 4, 1997 Sec. 102(e) Date Mar. 4, 1997 PCT Filed Jul. 10, 1996 PCT Pub. No. WO97/03393 PCT Pub. Date Jan. 30, 1997A moving path for which an interpolation instruction is given is a free curve expressed by a vector P(k). This curve is divided at predetermined cycles, and tangential vectors P' (k1) and P' (k2) at the start point and end point of each divided block are calculated. From these data and an instructed velocity F, an acceleration vector in the corresponding block is calculated. If each axial component of the calculated acceleration vector exceeds an acceleration limiting value set for each axis in advance, the instructed velocity F for the block is lowered to a value at which the axial component does not exceed the acceleration limiting value.
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