Movement trajectory generating method of a dynamical system

A method for generating a time trajectory of a controlled object comprising the steps of:

• generating said time trajectory of said controlled object in a network by using conditions for estimating the movement trajectory comprising at least one of a movement time, a start point, an end point and a via-point of the trajectory, and obstacles to the movement;
• using a criterion for ensuring smoothness of the movement trajectory by minimizing evaluation functions in integration for a movement time obtained by square of a function of movement comprising at least one of the third derivative of position with respect to time, time change of torque, and time change of force;
• obtaining in the network a number of internal models by multiplying by a unit of time a vector field of nonlinear differential equations describing dynamic characteristics of said controlled object;
• and
• generating the time trajectory of said controlled object by using bypasses corresponding to a flow of differential equations and discrete diffusion couplings for satisfying the evaluation criterion for ensuring the smoothness of movement.

A method for generating a time trajectory for a controlled object, using a control network, the method comprising the steps of:

• inputting condition data;
• estimating a movement trajectory of the controlled object based on the condition data;
• generating a function of the movement of the controlled object;
• squaring the function of movement;
• integrating the squared function of movement to derive an evaluation function;
• and
• minimizing the derived evaluation function to smooth the estimated movement trajectory.