A machine having X- and Y-axis linear moving axes and a pivot axis B for rotationally pivoting a pivot member having a tool arranged at a distal end thereof about an axis parallel to a Z axis is controlled. A moving command obtained by a command program commanded by a position expressed by X, Y, and Z in a three-dimensional orthogonal coordinate system is subjected to an interpolation process to calculate amounts of interpolation movement (.DELTA.X, .DELTA.Y, and .DELTA.Z) of the respective orthogonal axes. An amount of rotation .DELTA..theta. of the pivot axis required for moving the tool by the amount of movement .DELTA.Y in the Y-axis direction is calculated. An amount of correction movement .delta.x for canceling the movement in the X-axis direction caused by the rotation .DELTA..theta. of the pivot axis B is calculated. Values (.DELTA.X+.delta.x), .DELTA..theta., and .DELTA.Z are outputted to the X axis, the pivot axis B, and the Z axis, respectively.