Its operation control method for robot apparatus

Providing a robot apparatus and operation control method includes the base body and the moving unit connected to the base body. The robot apparatus comprises: respectively provided on the base body and at least one or more of the plurality of moving unit controlled-object point; setting means for setting target trajectories target trajectory of each controlled-object point; robot apparatus according to the motion to be performed , changing the priority order of priority between the respective target trajectory changing means; according to the stability criterion to determine the stability of the robot apparatus of the stability determination means; not satisfied and it is determined by the stability of the stability determination means, All or a portion of the correction target trajectory according to a priority order, and generates a motion pattern of the robot apparatus comprising a target trajectory of the motion pattern generating means.