Trajectory generation apparatus for robot to generate trajectory including curved portion

A trajectory generation apparatus for robot comprising:

• a reference trajectory generation unit which generates a reference trajectory including a curved portion based on a plurality of reference teaching points;
• a load judgement unit which calculates a load applied to a predetermined component of a robot when the robot is operated along the reference trajectory and compare the load with a predetermined load judgement value;
• a speed reduction unit which reduces a speed of the robot until the load becomes equal to or less than the load judgement value when the load is greater than the load judgement value;
• a comparison trajectory generation unit which sets a comparison teaching point obtained by changing a position of the reference teaching point when the speed is reduced by the speed reduction unit and generates a comparison trajectory based on the comparison teaching point;
• and
• a trajectory selection unit which compares a transit time of the comparison trajectory with a transit time of the reference trajectory and selects a trajectory of which a transit time is shorter.