For directly aiding human life, we develop a small six-axis robot arm that is easy to incorporate in daily life. We adopt a task teaching method in which we move the robot arm directly by hand and thus can control it more easily. To reduce the quantity of data for the task teaching, we suggest the method of using interpolation and taking out each angle data at the time intervals that are obtained from angular acceleration. From simulation, the Hermite interpolation is appropriate for the suggested method. By using this method, it became possible to calculate the angle instruction value with high reproducibility and a small number of data.