Robot system and supplemental learning method

An additional learning method for a robot system, the robot system comprising:

• a robot configured to work based on an operation command;
• a state detection sensor configured to detect and output a state value that indicates progress of work of the robot;
• a control unit configured to function as a learning control unit that outputs a calculation operation force based on the state value detected by the state detection sensor by using a model, the model being constructed by machine learning of a work state, a next work state associated with the work state, and at least one set of the state value and the operation force associated with the state value;
• an operation device configured to be operated by an operator, the operation device being configured to detect and output an operator operation force that is an operation force applied by the operator;
• and
• a switching device that receives the operator operation force applied by the operator in order to move the robot, the switching device being configured to convert the operator operation force into the operation command when the operator operation force is selected, and convert the calculation operation force into the operation command when the calculation operation force is selected, and output the operation command,
• the method comprising:
• a determination step outputting a determination result indicating whether or not the work of the robot can be continued under the control of the learning control unit based on the state value detected by the state detection sensor;
• an input receiving step accepting input of the work state and the operator operation force from the operation device;
• and
• an additional learning step additionally learning the work state, the next work state associated with the work state, and at least one set of the state value and the operation force associated with the state value and updating the model based on the determination result indicating that the work of the robot cannot be continued, the work state input in the input receiving step, the operator operation force input in the input receiving step for resolving a state in which the work cannot be continued, and the state value detected by the state detection sensor.

A robot system comprising:

• a robot configured to work based on an operation command;
• a state detection sensor configured to detect and output a state value that indicates progress of work of the robot;
• a control unit configured to function as
• a timekeeping unit that outputs a timer signal at predetermined time intervals;
• a learning control unit that outputs a calculation operation force based on the state value detected by the state detection sensor and the timer signal by using a model, the model being constructed by machine learning of a work state, a next work state associated with the work state, and at least one set of the state value and the operation force associated with the state value;
• and
• a determination unit that outputs a determination result indicating whether or not the work of the robot can be continued under the control of the learning control unit based on the state value detected by the state detection sensor;
• an operation device configured to be operated by an operator, the operation device being configured to detect and output an operator operation force that is an operation force applied by the operator;
• an input device configured to accept an input of the work state by the operator and outputting the input;
• and
• a switching device that receives the operator operation force applied by the operator in order to move the robot, the switching device being configured to convert the operator operation force into the operation command when the operator operation force is selected, and convert the calculation operation force into the operation command when the calculation operation force is selected, and output the operation command, wherein
• the control unit is further configured to function as an additional learning unit that additionally learns the work state, the next work state associated with the work state, and at least one set of the state value and the operation force associated with the state value and updating the model based on the determination result indicating that the work of the robot cannot be continued, the work state output by the input device, the operator operation force output by the operation device for resolving a state in which the work cannot be continued, the state value detected by the state detection sensor, and the timer signal.