TRACK GENERATOR, CONTROL METHOD OF TRACK GENERATOR, CONTROL PROGRAM, AND RECORD MEDIUM

摘要

PROBLEM TO BE SOLVED: To provide a track generator capable of generating a speed track on which a control object can arrive at a predetermined position in a desired time while reducing the peak of electric power or torque.SOLUTION: The track generator includes: an input reception section (100) that receives a specified drive time; and a track part (200) that generates an input track which includes a rising part, a flat part and a rising part on the basis of a calculated track obtained by using a minimum principle.SELECTED DRAWING: Figure 1