Controller and machine learning device
AssigneeFanuc Corporation
InventorTetsuji Ueda
Life of this patent
Estimating the term…
Abstract
A machine learning device of a controller observes, as state variables expressing a current state of an environment, teaching position compensation amount data indicating a compensation amount of a teaching position in control of a robot according to the teaching position and data indicating a disturbance value of each of the motors of the robot in the control of the robot, and acquires determination data indicating an appropriateness determination result of the disturbance value of each of the motors of the robot in the control of the robot. Then, the machine learning device learns the compensation amount of the teaching position of the robot in association with the motor disturbance value data by using the observed state variables and the determination data.
Claims8
A controller that determines a compensation amount of a teaching position in control of a robot according to the teaching position included in teaching data, the controller comprising:
- a machine learning device that learns a compensation amount of the teaching position in the control of the robot according to the teaching position, wherein
- the machine learning device has
- a state observation section that observes, as state variables expressing a current state of an environment, teaching position compensation amount data indicating the compensation amount of the teaching position in the control of the robot according to the teaching position, motor disturbance value data indicating a disturbance value of each of motors of the robot in the control of the robot, and teaching position data including the teaching position of the teaching data,
- a determination data acquisition section that acquires determination data indicating an appropriateness determination result of the disturbance value of each of the motors of the robot in the control of the robot, and
- a learning section that learns the compensation amount of the teaching position of the robot in association with the motor disturbance value data and the teaching position by using the state variables and the determination data.
A machine learning device that learns a compensation amount of a teaching position in control of a robot according to the teaching position included in teaching data,
- the machine learning device comprising:
- a state observation section that observes, as state variables expressing a current state of an environment, teaching position compensation amount data indicating the compensation amount of the teaching position in the control of the robot according to the teaching position, motor disturbance value data indicating a disturbance value of each of motors of the robot in the control of the robot, and teaching position data including the teaching position of the teaching data;
- a determination data acquisition section that acquires determination data indicating an appropriateness determination result of the disturbance value of each of the motors of the robot in the control of the robot;
- and
- a learning section that learns the compensation amount of the teaching position of the robot in association with the motor disturbance value data and the teaching position by using the state variables and the determination data.
Dependencies are inferred from the claim text.