Acceleration adjustment apparatus and non-transitory computer-readable storage medium storing an acceleration adjustment program

A non-transitory computer-readable storage medium storing an acceleration adjustment program, which when read and executed, causes a computer to perform operations comprising;

• calculating a peak value of a load that is estimated to act on a robot, based on a motion equation regarding a motion of the robot and a value of an acceleration of a joint of the robot in motion;
• and
• executing, based on the calculated peak value of the load, at least one of a first adjustment in which, when the peak value of the load calculated is greater than a target value of the load acting on the robot when the robot is moving, the acceleration is adjusted to decrease, and a second adjustment in which, when the peak value of the load calculated is less than the target value, the acceleration is adjusted to increase, wherein
• executing the calculating the peak value of the load and executing the at least one of the first adjustment and the second adjustment of the acceleration are repeated until the calculated peak value of the load calculated based on the acceleration of the joint of the robot and the motion equation falls within a predetermined range including the target value, and
• a number of times that calculating the peak value of the load and executing the at least one of the first adjustment and the second adjustment of the acceleration based on the calculated peak value of the load are repeated is increased or decreased based on the difference between the calculated peak value of the load and the target value and the change amount of the at least one first adjustment and the second adjustment.