An apparatus and a method for generating acceleration and deceleration patterns for control of a robot in a servo system which is equipped with a plurality of driving axes so constituted as to mutually exert dynamic interference, in such a manner that a synchronism is attained at acceleration start points, velocity peak points and deceleration end points in the patterns for the individual driving axes. Peak time calculating means responds to the information relative to dynamic parameters from constant setting means and command means, and calculates the peak time, which is required until the velocity reaches its peak after the pattern generation start point, from the kinetic energy consumed for each displacement and also from the power distribution relative to the driving sources. And pattern generating means generates, on the basis of the peak time thus obtained, an acceleration pattern and a temporally reflected deceleration pattern for each driving axis, whereby the tact time required for each displacement can be minimized.