Machine learning method and robot system
AssigneeYamaha Hatsudoki Kabushiki Kaisha
InventorSatoshi Urata
Life of this patent
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Abstract
A machine learning method for learning an action of a robot including a hand to pick out a workpiece from a container containing a plurality of the workpieces stacked in bulk and install the workpiece such that the workpiece is in a predetermined installation state includes learning a reverse-order action of removing, by the hand, the workpiece in the predetermined installation state after completion of installation, and learning an installation order of the workpiece based on a learning result of the reverse-order action of removing the workpiece.
Claims15
A machine learning method for learning an action of a robot including a hand to pick out two or more workpieces from a container containing a plurality of the workpieces stacked in bulk and install the two or more workpieces such that the two or more workpieces are in a predetermined installation state, the machine learning method comprising:
- learning a reverse-order action of removing, by the hand, the two or more workpieces in the predetermined installation state after completion of installation;
- and
- learning an installation order of the two or more workpieces based on a learning result of the reverse-order action of removing the two or more workpieces, wherein
- the learning of the reverse-order action of removing the two or more workpieces includes repeating the reverse-order action of removing the two or more workpieces by the hand until all or at least one, but not all, of the two or more workpieces in the predetermined installation state is removed,
- the learning of the reverse-order action of removing the two or more workpieces further includes changing an order of removing each of the two or more workpieces in the predetermined installation state and repeating the reverse-order action by the hand according to the changed order until all or at least one, but not all, of the two or more workpieces in the predetermined installation state is removed, and
- the learning of the reverse-order action of removing the two or more workpieces includes learning a plurality of reverse-order actions in which the order of removing each of the two or more workpieces is changed to be different from each other.
A robot system comprising:
- a robot including a hand to pick out two or more workpieces from a container containing a plurality of the workpieces stacked in bulk and install the two or more workpieces such that the two or more workpieces are in a predetermined installation state;
- a machine learning device configured to learn an action of the robot;
- and
- a controller configured or programmed to control the action of the robot based on a learning result of the machine learning device;
- wherein
- the machine learning device is configured to learn a reverse-order action of removing, by the hand, the two or more workpieces in the predetermined installation state after completion of installation, and learn an installation order of the two or more workpieces based on a learning result of the reverse-order action of removing the two or more workpieces,
- the machine learning device is configured to repeat the reverse-order action of removing the two or more workpieces by the hand until all or at least one, but not all, of the two or more workpieces in the predetermined installation state is removed,
- the machine learning device is configured to change an order of removing each of the two or more workpieces in the predetermined installation state and repeat the reverse-order action by the hand according to the changed order until all or at least one, but not all, of the two or more workpieces in the predetermined installation state is removed, and
- the machine learning device is configured to learn the reverse-order action of removing the two or more workpieces by learning a plurality of reverse-order actions in which the order of removing each of the two or more workpieces is changed to be different from each other.
Dependencies are inferred from the claim text.