Numerical control technique is widely used for controlling 2 or 3 axes driving machines such as machine tools or industrial robots by giving many pulse series to the industrial machine. NC languages for numerical control has been already prepared for driving many industrial machines and applying commands of the NC language the interpolation of the straight line or circular curve about trajectory line of tools can be realized easily. But the multi-axes machines or articulated industrial robots don't have the perpendicular coordinates, so DDA (Digital Differential Analyzer) technique that is a technique for the interpolation of straight line or circular curve cannot be applied to control multi-axes driving machines like 6-articulaled robot arms for the trajectory line of tools or robot hands. In this study, new NC controller that involves the forward kinematics of robot, its inverse Jacobian matrix and V-F converter is proposed by the computer software. The new NC controller that is proposed in this study is made by a feedback loop in the computer software and can generate on-line pulse series for realizing a desired posture and orientation of robot hand.
