TRAJECTORY GENERATION APPARATUS, CONTROL METHOD, CONTROL PROGRAM AND RECORDING MEDIUM FOR TRAJECTORY GENERATION APPARATUS

摘要

PROBLEM TO BE SOLVED: To suppress torque peaks without significantly changing the apparatus configuration.;SOLUTION: There are provided an input acceptance section (100) that accepts a designated drive time and a trajectory section (200) that regulates switchover timing and a maximum value and generates a torque trajectory the maximum value is minimized, under conditions of a rectangular wave and equal in torque maximum and minimum absolute values and once switchover between torque maximum and minimum values.;SELECTED DRAWING: Figure 1;COPYRIGHT: (C)2018,JPO&INPIT