A trajectory generation device includes a control target (1), an angle detector (2), a command generator (5) and a trajectory generator (6). If a change is generated from a current target angle to a new target angle or if a change is generated from the current target angular velocity to a new target angular velocity in the command generator (5), a changed trajectory is regenerated by the trajectory generator (6) based on the angle up to the new target angle or the angular velocity up to the new target angular velocity, on the basis of the output angular velocity generated by the trajectory generator (6) at the point the change has occurred and on the basis of a current angle at the point the change has occurred or an output angle generated by the trajectory generator (6) at the point the change has occurred.