The invention relates to a trajectory generation apparatus, a multi-link system and a trajectory generation method. A trajectory generation device includes an information acquisition unit (100), a hand position estimation unit (110), and a restriction search unit (130). The information acquisition unit is configured to acquire position coordinates of an obstacle present in a motion space of the robot arm. The hand position estimation unit is configured to estimate a hand position at a second time, which is a time next to the first time, by using a learning result of the machine learning on the basis of the following information: position coordinates of the obstacle acquired by the information acquisition unit; a subject joint state of the robot arm at the first time and a target joint state of the robot arm. The restriction search unit is configured to search for a non-interference joint state of the robot arm at which the obstacle does not interfere with the robot arm at the second time by using the hand position estimated by the hand position estimation unit as a restriction.
TRAJECTORY GENERATION APPARATUS, MULTI-LINK SYSTEM, AND TRAJECTORY GENERATION METHOD