A control device is provided with an instructed path generation unit that generates an instructed path for a movement path of a moving part on the basis of an instruction of a program, an actual forward path prediction unit that predicts an actual forward path from the instructed path using a machine model relating to a transfer characteristic of an industrial machine, an instructed reverse path generation unit that generates an instructed reverse path by reversing the movement direction of an actual forward path, an actual reverse path prediction unit that predicts an actual reverse path from the instructed reverse path using the machine model, and an instructed speed adjustment unit that adjusts an instructed speed based on a movement speed indicated by the instruction of the program so as to reduce an error of the actual reverse path relative to the instructed reverse path, and generates an instructed reverse speed.

The present invention discloses a post-processing method for a special seven-five axis linkage machine tool, comprising: building a multi-body kinematic model according to the structure of the machine tool, and building the multi-body kinematic model according to the sequence of workpiece-turntable-machine tool-cross beam-ram-milling head-cutting tool; establishing position coordinate transformation matrices according to the built multi-body kinematic model to obtain the matrices of cutter location points and tool orientation vectors; solving transformation equations of every motion axis of the machine tool and cutter location point coordinates according to the matrices of cutter location points and tool orientation vectors; building a corresponding relationship between the cutter location point coordinates and every motion axis of the machine tool based on a geometric level, and solving specific values of C-axis rotation angle of milling head and C2-axis rotation angle of the turntable.