The trajectory planning system for integrating a computer numerical control (CNC) machine, trajectory planning device, trajectory planning method, and computer program thereof are provided. The aforementioned trajectory planning device includes a determining module. The determining module configures the related processing speed or processing acceleration based on type of the processing segment so as to provide a processing setting. Furthermore, the aforementioned trajectory planning device determines the processing segment whether the linear or circular segment and plans the tangent or normal acceleration of related processing segment so as to optimize the processing setting and finish the high order processing trajectory planning.

Provided is a control apparatus outputting commands for respective axes of a machine having a redundant degree of freedom includes: a machine learning device that learns the commands for the respective axes of the machine. The machine learning device has a state observation section that observes, as state variables expressing a current state of an environment, data indicating movements of the respective axes of the machine or an execution state of a program, a determination data acquisition section that acquires determination data indicating an appropriateness determination result of a processing result, and a learning section that learns the movements of the respective axes of the machine or the execution state of the program and the commands for the respective axes of the machine, which are associated with one another, by using the state variables and the determination data.

A handrail drive inverter for an escalator can include a memory configured to store instructions, a processor coupled to the memory, an input configured to receive a main speed control signal that corresponds to the speed of a main drive motor of the escalator, and an output configured to provide a handrail speed control signal for a handrail drive motor based on the instructions in the memory. The processor is configured to calculate a torque output of the handrail drive motor and determine the handrail speed control signal as a function of the torque output and a feedback of the handrail speed control signal constrained by at least one of an upper limit and a lower limit, the upper limit and the lower limit being determined from the main speed control signal.