Control apparatus of robot, robot, and program thereof

A trajectory generation apparatus for calculating a trajectory along which a robot is driven in which each of a plurality of joint sections is driven by an actuator with a first constraint value that is set as an upper limit of performance, the trajectory generation apparatus comprising:

• at least one processor and a memory functioning as:
• a target trajectory calculation unit constructed to use a target value of the robot and the first constraint value to solve an optimal control problem to calculate a target trajectory from a first point to a second point of the robot;
• a deflection correction amount calculation unit constructed to calculate a deflection correction amount of each of the plurality of joint sections of the robot when the robot is operated based on the target trajectory;
• a deflection correction trajectory calculation unit constructed to correct the target trajectory from the first point to the second point from the respective deflection correction amounts to calculate a deflection correction trajectory from the first point to the second point;
• an actuator performance calculation unit constructed to calculate performance of the actuator necessary to operate the robot based on the deflection correction trajectory;
• a determination unit constructed to determine 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 recalculating unit constructed to recalculate the target trajectory of the robot by replacing the first constraint value in the target trajectory calculation unit with a second constraint value and using the target value of the robot and the second constraint value to solve the optimal control problem if the determination unit determines that one of the first condition and the second condition is not satisfied;
• and
• a trajectory decision unit constructed to output to the actuator, 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, wherein the actuator is constructed to drive the plurality of joint sections of the robot in accordance with the trajectory output by the trajectory decision unit.