By controlling an operation of one reference axis using a control program, a controller operates another axis in synchronization with the reference axis. The controller generates shift information indicating an operation timing of another axis with respect to the reference axis, and determines a timing of outputting a movement amount related to each of the plurality of axes according to the generated shift information. Then, the controller outputs a movement amount of an axis, for which it is determined that it is a timing to output the movement amount, and buffers a movement amount of an axis, for which it is determined that it is not a timing to output the movement amount.

A control apparatus includes an operation unit that teaches the robot a position, a posture changing instruction unit that instructs a position change when the robot passes through a singularity or its vicinity, a singularity passing motion request unit that instructs the robot to change its posture, a robot drive information request unit that acquires robot drive information, and a robot G-code generation unit that inserts a G-code from the robot drive information into a program. A robot includes a drive control unit that drives the robot, a singularity determination unit that determines passage through the singularity or its vicinity, a singularity passing pattern generation unit that generates a motion plan for passage through the singularity or its vicinity based on the changed posture, and a robot drive information output unit that transmits the robot drive information to the control apparatus.

A laundry device has a drive system. The drive system contains a plurality of actuators for executing synchronized adjusting actions, a plurality of decentralized control modules assigned to the respective actuators and are connected to one another via a data bus, and a central controller for controlling the actuators via the data bus and the decentralized control modules. The central controller is configured to send a preconditioning message with information relating to preconditioning an adjusting action of at least one portion of the actuators via the data bus to the decentralized control modules. The central controller or one of the decentralized control modules is configured to send a trigger signal to the decentralized control modules via a trigger line after the sending of the preconditioning message. The trigger signal prompts the decentralized control modules to control the actuators in a temporally synchronized manner according to the preconditioned adjusting action.

A control apparatus includes an operation unit that teaches the robot a position, a posture changing instruction unit that instructs a position change when the robot passes through a singularity or its vicinity, a singularity passing motion request unit that instructs the robot to change its posture, a robot drive information request unit that acquires robot drive information, and a robot G-code generation unit that inserts a G-code from the robot drive information into a program. A robot includes a drive control unit that drives the robot, a singularity determination unit that determines passage through the singularity or its vicinity, a singularity passing pattern generation unit that generates a motion plan for passage through the singularity or its vicinity based on the changed posture, and a robot drive information output unit that transmits the robot drive information to the control apparatus.