A machine learning device performs machine learning on a numerical control device which, when a first command including a corner portion, composed of two blocks in the machining program, generates a second command in which the two blocks are replaced with m or more blocks. The machine learning device comprises: a state information acquisition unit for acquiring state information including the first command, coordinate values of each block in the m or more blocks, and location information of the machining path and the machining time; an action information output unit for outputting action information; a reward output unit for outputting a reward value based on the inward turning amount in the corner portion; and a value function updating unit for updating a value function based on the value of the reward outputted from the reward output unit, the state information and the action information.

A machine learning device performs machine learning on a numerical control device which, when a first command including a corner portion, composed of two blocks in the machining program, generates a second command in which the two blocks are replaced with m or more blocks. The machine learning device comprises: a state information acquisition unit for acquiring state information including the first command, coordinate values of each block in the m or more blocks, and location information of the machining path and the machining time; an action information output unit for outputting action information; a reward output unit for outputting a reward value based on the inward turning amount in the corner portion; and a value function updating unit for updating a value function based on the value of the reward outputted from the reward output unit, the state information and the action information.

A program correcting device comprises an executing part which executes a simulation of operation of the robot based on an operating program, a calculating part which calculates a variation with time of a TCP speed from the simulation results, an evaluating part which evaluates a pattern of the calculated variation with time if a minimum value of the TCP speed during the calculated variation with time is a predetermined lower limit value or less, a selecting part which selects a correction scheme of the operating program for increasing the minimum value of the TCP speed from a plurality of correction schemes, in accordance with the evaluation results of the pattern of the variation with time, and a correcting part which corrects the operating program in accordance with the selected correction scheme.