Robot apparatus having learning function

A robot apparatus comprising:

• a robot mechanism;
• a sensor provided in a portion, the position of which is to be controlled, of the robot mechanism, for detecting a physical quantity to directly or indirectly obtain positional information of the portion;
• and
• a robot controller having an operation control unit for controlling the operation of the robot mechanism, wherein
• the robot controller includes:
• a learning control unit for calculating a learning correction value to improve a specific operation of the robot mechanism based on the physical quantity detected, while the operation control unit makes the robot mechanism perform the specific operation, with the sensor;
• and
• a learning extension unit for obtaining the relationship between the learning correction value calculated by the learning control unit and information about the learned specific operation, and calculates another learning correction value to improve a new operation that is different from the specific operation of the robot mechanism, by applying the obtained relationship to information about the new operation without sensor, and
• wherein the learning extension unit obtains a transfer function between the learning correction value and the operation information from spectrograms of the learning correction value calculated by the learning control unit and the information about the specific operation of the robot mechanism, and calculates the learning correction value for the new operation based on the transfer function by input of the information about the new operation.