Method of generating path of multiaxial robot and control apparatus for the multiaxial robot

A control apparatus that controls a multiaxial robot having a plurality of movable axes configured by a plurality of links and a plurality of joints, comprising:

• a position specifying means for specifying positions of an end effector arranged at an extreme end of the plurality of links, the positions being a start point and an end point;
• a velocity pattern generating means for generating velocity patterns of first and second joints to drive respectively first and second joints among the plurality of joints on the basis of the specified positions of the start and end points, the second link being positioned closer to the end effector than the first link, the velocity patterns enabling a movement of the second link to cause i) a reaction for increasing an acceleration force generated by the first joint when the end effector is started to be moved from the start point toward the end point, and ii) a reaction for increasing a deceleration force generated by the first joint when the end effector is stopping to the end point;
• and
• a control means for controlling actuation of the first and second joints on the basis of the velocity pattern.