Trajectory control device

A trajectory control device that controls a trajectory of a movable portion of a processing machine driven by a plurality of axes, the trajectory control device comprising:

• circuitry configured to
• calculate an integrated command length, being a length integrated from a start position, along a command path defined as a history of a command position with respect to each of the plurality of axes,
• calculate an integrated response length by applying a first filter to the integrated command length, the first filter simulating a servo response of the processing machine with respect to the plurality of axes,
• calculate a reference response position, the reference response position being a position on the command path, at which a length from the start position along the command path is equal to the integrated response length, and
• calculate a corrected command position on each of the plurality of axes by applying a second filter to the reference response position, the second filter being applied with respect to respective coordinate values in each of the plurality of axes, and the second filter having inverse characteristics of the servo response;
• and
• a servo controller that controls each of the plurality of axes by outputting a drive torque based on the corrected command position, wherein
• the movable portion of a processing machine is configured to process a workpiece as the servo controller controls each of the plurality of axes by outputting the drive torque based on the corrected command position.