PROFILE GENERATION APPARATUS, CONTROL METHOD FOR PROFILE GENERATION APPARATUS, CONTROL PROGRAM, AND STORAGE MEDIUM

摘要

A velocity profile is calculated to have a lower power peak or a lower torque peak and to allow a control target to reach a predetermined position within an intended time. An input reception unit (100) receives a designated drive time. A profiling unit (200) generates an input profile including a leading edge portion, a flat portion, and a trailing edge portion calculated based on the principle of least action.