Trajectory generation system

A trajectory generating system that is used in a work machine including a machine body and an attachment that is attached to the machine body and performs work, and generates a trajectory of a specific portion of the attachment, the trajectory generating system comprising:

• a target trajectory setting unit that sets a target trajectory including a target path including a plurality of target points and time information that is information about a time for a movement of the specific portion along the plurality of target points;
• and
• a target trajectory correcting unit that corrects the target trajectory,
• wherein the target trajectory correcting unit
• specifies at least one omission point from among the plurality of target points according to a predetermined condition, and sets two points adjacent to both sides of the omission point as an omission start point and an omission end point, respectively,
• sets a corrected target path that is a path from the omission start point to the omission end point so that the omission point for the specific portion is omitted from the plurality of target points on the target trajectory, and
• sets the time information about the specific portion from the omission start point to the omission end point in the corrected target path based on at least one of a movement distance and a movement time of the specific portion from the omission start point to the omission end point on a pre-correction target trajectory.