Control method for robot apparatus and robot apparatus

A non-transitory computer-readable recording medium storing a program causing a computer to execute a control method for a robot apparatus including

• a power supply unit;
• an articulated arm having a plurality of joints each having an actuator and a driver configured to adjust power of the power supply unit and supply it to the actuator;
• and
• a control device configured to control the driver such that power required for an operation of the actuator may be supplied from the power supply unit to the actuator to move a position/attitude of the articulated arm, the method comprising:
• determining by the control device whether a total of required power in all of the actuators is equal to or lower than an allowable power of the power supply unit by using a trajectory through teaching points for moving the articulated arm from a first position/attitude to a second position/attitude before the articulated arm starts moving;
• and
• if the total of required power in all of the actuators is higher than the allowable power of the power supply unit, resetting by the control device the trajectory for moving the articulated arm from the first position/attitude to the second position/attitude to a trajectory causing a total of required powers in all of the actuators to be equal to or lower than the allowable power of the power supply unit.

A robot apparatus comprising:

• a power supply unit;
• an articulated arm having a plurality of joints each having an actuator and a driver configured to adjust power of the power supply unit and supply it to the actuator;
• and
• a control device configured to control the driver such that power required for an operation of the actuator may be supplied from the power supply unit to the actuator to move a position/attitude of the articulated arm, wherein
• the control device determines whether a total of required power in all of the actuators is equal to or lower than an allowable power of the power supply unit by using a trajectory through teaching points for moving the articulated arm from a first position/attitude to a second position/attitude before the articulated arm starts moving;
• and
• if the total of required power in all of the actuators is higher than the allowable power of the power supply unit, the control device resets the trajectory for moving the articulated arm from the first position/attitude to the second position/attitude to a trajectory causing a total of required powers in all of the actuators to be equal to or lower than the allowable power of the power supply unit.