Robot for controlling learning in view of operation in production line, and method of controlling the same

A robot comprising a robot mechanism unit provided with a sensor for detecting an actual position of a portion to be controlled as a target of position control, and a control device which controls an operation of the robot mechanism unit according to an operation program,

• the control device comprising:
• means for inputting allowance conditions of vibrations occurring at the portion to be controlled, wherein the control device sets the allowance conditions which include at least an allowance for amplitude of the vibrations;
• a learning control part which calculates a difference between a target position and an actual position of the portion detected based on the sensor by operating the robot mechanism unit in response to an operation command of one of a target path and a target position of the portion to be controlled, and conducts learning for calculating an updated compensation amount based on the difference and a previous compensation amount previously calculated for bringing the actual position of the portion to be controlled to the target position;
• and
• a robot control part which receives the operation command and controls an operation of the robot mechanism unit by using the received operation command and the updated compensation amount calculated by the learning control part,
• the learning control part comprising:
• an operation-speed change-rate adjustment part which increases or reduces an operation-speed change rate several times within a maximum value of the operation-speed change rate set for increasing or reducing an operation speed of the robot mechanism unit and within the allowance conditions of vibrations occurring at the portion to be controlled;
• a compensation amount calculation part which calculates the updated compensation amount in order to suppress the vibrations at each operation-speed change rate;
• and
• a memory which stores a convergent compensation amount and a convergent operation-speed change rate after convergence of the compensation amount and the operation-speed change rate.