Control apparatus of robot, robot, and program thereof

A control apparatus of a robot driven by an actuator with a first constraint value that is set as an upper limit of performance, the control apparatus comprising:

• a target trajectory calculation unit that uses a target value of the robot and a second constraint value to solve an optimal control problem to calculate a target trajectory of the robot;
• a deflection correction amount calculation unit that calculates a deflection correction amount of the robot when the robot is operated based on the target trajectory;
• a deflection correction trajectory calculation unit that corrects the target trajectory from the deflection correction amount to calculate a deflection correction trajectory;
• an actuator performance calculation unit that calculates performance of the actuator necessary to operate the robot based on the deflection correction trajectory;
• a determination unit that determines whether a first condition that the actuator performance calculated by the actuator performance calculation unit is within a range of the first constraint value and a second condition that a difference between the first constraint value and the actuator performance is within a range of a predetermined value are satisfied;
• a constraint value change unit that changes the second constraint value if the determination unit determines that one of the first condition and the second condition is not satisfied;
• a recalculating unit that recalculates the target trajectory of the robot by using the target trajectory calculation unit if the determination unit determines that one of the first condition and the second condition is not satisfied and that the second constraint value is changed;
• and
• a trajectory decision unit that decides, as a trajectory of the robot, the deflection correction trajectory calculated by the deflection correction trajectory calculation unit if the determination unit determines that the first condition and the second condition are satisfied.