Motion trajectory generation method for robot, motion trajectory generation apparatus for robot, robot system, and program

A motion trajectory generation apparatus for generating a motion trajectory of a robot having a plurality of drive axes upon carrying out work at a work position, the motion trajectory generation apparatus comprising:

• obtaining means for obtaining a motion condition identified and corresponding to the work position;
• and
• determination means for determining a motion trajectory of the robot by carrying out a search for a plurality of motion trajectories that the robot is able to implement, on the basis of the motion condition, wherein
• the determination means determines priority levels in the search on the basis of the motion condition and work directions for a plurality of work positions, and carries out the search for the plurality of motion trajectories on the basis of the priority levels.

A program for causing a computer to perform:

• an obtaining step of obtaining a motion condition identified and corresponding to a work position at which a robot having a plurality of drive axes carries out work;
• and
• a generation step of generating a motion trajectory of the robot by carrying out a search for a plurality of motion trajectories that the robot is able to implement, on the basis of the motion condition, wherein
• in the generation step, priority levels in the search are determined on the basis of the motion condition and work directions for a plurality of work positions, and the search for the plurality of motion trajectories is carried out on the basis of the priority levels.