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TRAJECTORY GENERATION DEVICE, TRAJECTORY GENERATION METHOD, AND STORAGE MEDIUM HAVING TRAJECTORY GENERATION PROGRAM STORED THEREIN
TRAJECTORY GENERATION DEVICE, TRAJECTORY GENERATION METHOD, AND STORAGE MEDIUM HAVING TRAJECTORY GENERATION PROGRAM STORED THEREIN
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机译：具有其中存储的弹道生成程序的弹道生成装置，弹道生成方法以及存储介质
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摘要
A trajectory generation device comprising at least: a control target (1), an angle detector (2) that outputs the current angle of the control target (1), a command generator (5) that sets the target angle and the target angular velocity; and a trajectory generator (6) that generates trajectories from the current angle, the target angle, and the target angular velocity. If a change, from a current target angle or target angular velocity to a new target angle or a new target angular velocity, occurs in the command generator (5), a changed trajectory is regenerated by the trajectory generator (6) on the basis of the angle up to the new target angle or the angular velocity up to the new target angular velocity, on the basis of an output angular velocity generated by the trajectory generator (6) at the point the change is generated and on the basis of a current angle for the control target (1) as detected by the angle detector (2) at the time the change occurred or an output angle generated by the trajectory generator (6).
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