TRAJECTORY GENERATION SYSTEM AND TRAJECTORY GENERATION METHOD

摘要

A specified function p is generated to satisfy a first condition that an integral value of an evaluation function over a specified period is minimal. The evaluation function denotes a magnitude of an absolute value of a third order specified function p(3)(t). Moreover, the specified function p is generated to satisfy a second condition that a value of a second order specified function p(2)(t) is limited within a limiter range [p(2)min_c, p(2)max_c].