TRAJECTORY GENERATION DEVICE, TRAJECTORY GENERATION METHOD, AND STORAGE MEDIUM HAVING TRAJECTORY GENERATION PROGRAM STORED THEREIN

Title:

TRAJECTORY GENERATION DEVICE, TRAJECTORY GENERATION METHOD, AND STORAGE MEDIUM HAVING TRAJECTORY GENERATION PROGRAM STORED THEREIN

Document Type and Number:

WIPO Patent Application WO/2014/016991

Kind Code:

A1

Abstract:

A trajectory generation device comprising at least: a control target (1), an angle detector (2) that outputs the current angle of the control target (1), a command generator (5) that sets the target angle and the target angular velocity; and a trajectory generator (6) that generates trajectories from the current angle, the target angle, and the target angular velocity. If a change, from a current target angle or target angular velocity to a new target angle or a new target angular velocity, occurs in the command generator (5), a changed trajectory is re-generated by the trajectory generator (6) on the basis of the angle up to the new target angle or the angular velocity up to the new target angular velocity, on the basis of an output angular velocity generated by the trajectory generator (6) at the point the change is generated and on the basis of a current angle for the control target (1) as detected by the angle detector (2) at the time the change occurred or an output angle generated by the trajectory generator (6).

Inventors:

SHIMIZU MOTOAKI (JP)

Application Number:

PCT/JP2013/002035

Publication Date:

January 30, 2014

Filing Date:

March 26, 2013

Export Citation:

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Assignee:

NEC CORP (JP)

International Classes:

G05D3/12; B64G1/24; G05D1/12

Foreign References:

JPH05330498A	1993-12-14
JPS57113112A	1982-07-14
JP2006008132A	2006-01-12
JPH07307703A	1995-11-21
JP2006252081A	2006-09-21
JP2007320528A	2007-12-13
JP2001330656A	2001-11-30

Other References: