A speed adjustment support device calculates a jerk per unit time based on a difference in acceleration for each axis of an industrial machine between control cycles, compares the calculated jerk with an allowable jerk for each axis stored in advance, produces exceedance information including at least an exceeding state and an improvement means in a case of jerk exceedance as a result of the comparison, and supports work of adjusting a parameter related to speed of the industrial machine based on the exceedance information.

A method and system for robot motion control using a model predictive control (MPC) technique including torque rate control and suppression of end tooling oscillation. An MPC module includes a robot dynamics model which inherently reflects response nonlinearities associated with changes in robot configuration, and an optimization solver having an objective function with a torque rate term and inequality constraints defining bounds on both torque and torque rate. The torque rate control in the MPC module provides an effective means of controlling jerk in robot joints, while accurately modeling robot dynamics as the robot changes configuration during a motion program. End tooling oscillation dynamics may also be included in the MPC objective function and constraints in order to automatically control end tooling vibration in the calculations of the MPC module.