Patent Document ID: 20140012419
Application ID: 13922726
Patent Flag: 0

Claim One:
1. A robot control apparatus, which is configured to control a robot arm to be driven by transmitting a drive force to each of multiple joints from each of drive sources corresponding thereto via a transmitting component so that the robot arm follows a specified trajectory, the control being carried out based on an instruction value to be instructed against the each of the drive sources, the robot control apparatus comprising: a storage unit configured to store constraint conditions including a constraint value of a jerk for each of the multiple joints, the constraint conditions being determined so that, when a movable range of the robot arm is divided into multiple spaces, a load torque to be applied to the transmitting component falls within an allowable range in each of the multiple spaces; and a calculating unit configured to generate the instruction value based on the specified trajectory of the robot arm by solving an optimization problem that uses the constraint conditions stored in the storage unit as an inequality constraint.