| CPC B25J 9/1664 (2013.01) [G05B 19/4103 (2013.01); G05B 2219/45104 (2013.01)] | 6 Claims |
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1. A trajectory generation device configured to generate a trajectory along which a control target passes, the trajectory generation device comprising:
a storage unit configured to store a plurality of points through which the control target passes; and
a processor configured to perform:
a receiving process of receiving designated path information about a path designated by a user in a partial section between two points in the plurality of points, and
a trajectory generation process of generating, by using the designated path information, a first path passing through the two points in the plurality of points and at least one anterior passing point through which the control target passes before passing through the two points, and a second path passing through the two points in the plurality of points and at least one posterior passing point through which the control target passes after passing through the two points, a first expression of the trajectory in the partial section and a second expression of the trajectory in a following partial section between the partial section and the at least one posterior passing point,
the processor is configured to make the trajectory in the partial section to be one corresponding to a pass type indicated in the designated path information, and conduct the trajectory generation process so as to make first-order derivative values of the first expression and the second expression become equal at a point between the partial section and the following partial section, and
wherein the processor is configured to control the position of the control target to move the control target along the generated trajectory.
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