Controller and machine learning device

A controller that infers command data to be issued to an axis of a robot on the basis of trajectory data of an end position of an arm of the robot, the controller comprising a machine learning device having learned inference of command data that corresponds to the trajectory data and is to be issued to an axis of the robot, comprising:

• an axis angle conversion unit calculating, from the trajectory data, an amount of change of an axis angle of the axis of the robot;
• a state observation unit observing axis angle data relating to the amount of change of the axis angle of the axis of the robot calculated by the axis angle conversion unit as a state variable representing a current state of an environment;
• a learning unit having learned the amount of change of the axis angle of the axis of the robot and command data for the axis of the robot in association with each other;
• and
• an inference result output unit inferring and outputting command data for the axis of the robot on the basis of the state variable observed by the state observation unit and a result of learning by the learning unit.

A machine learning device that learns command data to be issued to an axis of a robot, the command data corresponding to trajectory data of an end position of an arm of the robot, the machine learning device comprising:

• an axis angle conversion unit calculating, from the trajectory data, an amount of change of an axis angle of the axis of the robot;
• a state observation unit observing axis angle data relating to the amount of change of the axis angle of the axis of the robot calculated by the axis angle conversion unit as a state variable representing a current state of an environment;
• a label data acquisition unit acquiring axis angle command data relating to command data for the axis of the robot as label data;
• and
• a learning unit learning the amount of change of the axis angle of the axis of the robot and command data for the axis of the robot in association with each other by using the state variable and the label data.

A machine learning device that has learned inference of command data to be issued to an axis of a robot, the command data corresponding to trajectory data of an end position of an arm of the robot, the machine learning device comprising:

• an axis angle conversion unit calculating, from the trajectory data, an amount of change of the axis angle of the axis of the robot;
• a state observation unit observing axis angle data relating to the amount of change of the axis angle of the axis of the robot calculated by the axis angle conversion unit as a state variable representing a current state of an environment;
• and
• a learning unit having learned the amount of change of the axis angle of the axis of the robot and command data for the axis of the robot in association with each other;
• and
• an inference result output unit inferring and outputting command data for the axis of the robot on the basis of the state variable observed by the state observation unit and a result of learning by the learning unit.