Control apparatus, control system and control method

A control system comprising:

• a movable mechanism having a movable unit movable by a plurality of drive shafts;
• a driver for driving said movable mechanism;
• and
• a control apparatus providing a control instruction to said driver, said control apparatus including:
• a target trajectory generation unit configured to generate a target trajectory for a movement section defined by a start point and an end point;
• a remaining distance estimation unit configured to estimate a remaining distance along said target trajectory from a current position to said end point;
• an acceleration calculation unit configured to calculate such an acceleration that a velocity of said movable unit varies from a current velocity to a target velocity when said movable unit is moved by said remaining distance;
• and
• a movement velocity updating unit configured to calculate a new target movement velocity value by correcting said current movement velocity with said acceleration calculated.

A method for controlling a device having a movable unit movable by a plurality of drive shafts, comprising:

• generating a target trajectory for a movement section defined by a start point and an end point;
• estimating a remaining distance along said target trajectory from a current position to said end point;
• calculating such an acceleration that a velocity of said movable unit varies from a current velocity to a target velocity when said movable unit is moved by said remaining distance;
• and
• calculating a new target movement velocity value by correcting said current movement velocity with said acceleration calculated.