Patent ID: 9278766
Filing Date: 2016-03-08
CPC Classification: B64G

Claim Text:
1. A trajectory generation device comprising at least: a control target, an angle detection unit that outputs a current angle of the control target, a command generation unit that sets a target angle and a target angular velocity of the control target, a trajectory generation unit that generates and outputs an output angular velocity and an output angle which give a trajectory of the control target based on the current angle, the target angle and the target angular velocity, wherein if a change is generated from a current target angle to a new target angle or if a change is generated from the current target angular velocity to a new target angular velocity in the command generation unit, a changed trajectory is regenerated by the trajectory generation unit based on the angle up to the new target angle or the angular velocity up to the new target angular velocity, on the basis of the output angular velocity generated by the trajectory generation unit at the point the change has occurred and on the basis of a current angle at the point the change has occurred or an output angle generated by the trajectory generation unit at the point the change has occurred.