Trajectory plan generation device, trajectory plan generation method, and trajectory plan generation program

A trajectory plan generation method executed by a trajectory plan generation device that includes a processor configured to execute a program and a storage device configure to store the program, and is configured to generate a trajectory plan in which a tip portion of a robot arm having a plurality of joints moves from a start point to an end point, the trajectory plan generation method comprising:

• the processor executing:
• a first search process for searching for a plurality of position candidates which are movement destinations of the tip portion within a predetermined distance from first trajectory information indicating positions and postures of the tip portion between the start point and the end point;
• a second search process for searching for, at the plurality of position candidates, a plurality of posture candidates of the tip portion that change within an allowable range by spherical interpolation based on postures of the tip portion at the start point and the end point;
• a determination process for determining second trajectory information indicating a position and a posture of a movement destination of the tip portion from the first trajectory information based on the plurality of position candidates searched for by the first search process and the plurality of posture candidates searched for by the second search process;
• and
• an output process for outputting trajectory data including the first trajectory information and the second trajectory information determined by the determination process.

A non-transitory computer readable medium storing a trajectory plan generation program causing, when executed by a processor, the processor to execute generation of a trajectory plan in which a tip portion of a robot arm having a plurality of joints moves from a start point to an end point, the trajectory plan generation program comprising code configured to cause the processor to execute:

• a first search process for searching for a plurality of position candidates which are movement destinations of the tip portion within a predetermined distance from first trajectory information indicating positions and postures of the tip portion between the start point and the end point;
• a second search process for searching for, at the plurality of position candidates, a plurality of posture candidates of the tip portion that change within an allowable range by spherical interpolation based on postures of the tip portion at the start point and the end point;
• a determination process for determining second trajectory information indicating a position and a posture of a movement destination of the tip portion from the first trajectory information based on the plurality of position candidates searched for by the first search process and the plurality of posture candidates searched for by the second search process;
• and
• an output process for outputting trajectory data including the first trajectory information and the second trajectory information determined by the determination process.