| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a command value generator for calculating a motion command value satisfying a complicated operation condition at real time. Ž<P>SOLUTION: This motion command generator includes an input part input with the operation condition of a control object, a linear programming problem setting part for preparing linear sum information of expressing the motion command value by a weighted linear sum summed up after multiplying a fundamental function of a function of a time with an unknown weighting factor in each fundamental function, and for preparing a linear programming problem of expressing a limitation condition and an evaluation index by a linear equation and an inequality with respect to the optimum variable including the weighting factor in response to the operation condition, to be stored as linear programming problem information, a weighting factor calculating part for finding the weighting factor, by solving the linear programming problem expressed by the linear programming problem information, and a command value calculating part for calculating the motion command value, by the weighted linear sum summed up after multiplying the fundamental function with the weighting factor found by the weighting factor calculating part, based on the linear sum information. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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