Trajectory control device

A trajectory control device in which a movable portion of a machine is driven by a plurality of movable axes, and a trajectory of the movable portion is controlled by simultaneously controlling motors of the movable axes, the trajectory control device comprising:

• a servo-system response-trajectory calculation unit that computes a servo-system response trajectory based on a position command of each movable axis;
• a shape-feature determination unit that determines whether a shape of a commanded path is a straight line or a curved line based on the position command and outputs, as a feature amount of the shape of the commanded path, a shape feature amount including a boundary point position of the shape of the commanded path and a running direction of the shape near the boundary point;
• a position-vector correction unit that corrects a position command by performing vector computations based on the position command, the servo-system response trajectory and the shape feature amount, and outputs a corrected position command;
• and
• a plurality of servo control units that control a motor of each movable axis by outputting a motor drive torque so that a position of each movable axis follows the corrected position command.