Robot control method, robot control apparatus, robot control program, and storage medium

A robot control method capable of, by a control unit, controlling a robot so as to be driven according to a commanded trajectory, detecting an actual trajectory along which the robot is driven, and controlling the commanded trajectory by learning based on a trajectory error between the actual trajectory and a target trajectory, the method comprising:

• calculating, by the control unit, a trajectory error;
• and
• controlling, by the control unit, the commanded trajectory by learning,
• the controlling by learning including
• performing storing, by the control unit, such that in a case where the calculated trajectory error is less than a trajectory error stored in a storage unit, the trajectory error stored in the storage unit is updated by the calculated trajectory error, the calculated trajectory error is stored in the storage unit, and a commanded trajectory stored in the storage unit is updated by a commanded trajectory based on which the calculated trajectory error is obtained,
• changing, by the control unit, a first compensator to a second compensator such that in a case where the calculated trajectory error is more than the trajectory error stored in the storage unit, the first compensator is changed to the second compensator that is configured to calculate an amount of correction of the commanded trajectory from the trajectory error and that is configured to calculate the amount of correction in a different manner from a manner in which the first compensator calculates the amount of correction, and
• calculating, by the control unit, a commanded trajectory in a next-time operation such that the amount of correction for the commanded trajectory stored in the storage unit is calculated using a selected compensator, and the commanded trajectory in the next-time operation is calculated from the calculated amount of correction and the commanded trajectory stored in the storage unit,
• wherein the second compensator is a proportional compensator, an integral compensator, a derivative compensator, a PID compensator, a low pass filter, a second-order derivative compensator, a time delay compensator, a time advance compensator or a notch filter,
• wherein the second compensator includes at least a proportional compensator, a lowpass filter, and a time advance compensator, and
• wherein in changing, by the control unit, the first compensator, in a case where the second compensator is selected at the beginning of the learning control and when the first compensator is changed to the second compensator configured to calculate the amount of correction in a different manner from a manner in which the second compensator calculates the amount of correction, the first compensator is changed to the second compensator realized by connecting in series the lowpass filter and the time advance compensator and a cutoff frequency of the lowpass filter is set to be lower than a natural vibration frequency of the robot and an advanced time of the time advance compensator is set to be shorter than a vibration period of a natural vibration of the robot.

A robot control apparatus capable of controlling a robot so as to be driven according to a commanded trajectory, detecting an actual trajectory along which the robot is driven, and controlling the commanded trajectory by learning based on a trajectory error between the actual trajectory and a target trajectory, the apparatus comprising:

• a control unit configured to calculate a trajectory error and perform the controlling by learning;
• and
• a storage unit capable of storing the trajectory error and the commanded trajectory,
• the control unit being configured to perform the controlling by learning such that
• in a case where the calculated trajectory error is less than the trajectory error stored in the storage unit, the trajectory error stored in the storage unit is updated by the calculated trajectory error, the calculated trajectory error is stored in the storage unit and the commanded trajectory stored in the storage unit is updated by a commanded trajectory based on which the calculated trajectory error is obtained,
• in a case where the calculated trajectory error is more than the trajectory error stored in the storage unit, a first compensator configured to calculate an amount of correction of the commanded trajectory from the trajectory error is changed to a second compensator configured to calculate the amount of correction in a different manner from a manner in which the first compensator calculates the amount of correction,
• the amount of correction of the commanded trajectory stored in the storage unit is calculated using the currently selected compensator, and
• a commanded trajectory in the next-time operation is calculated from the calculated amount of correction and the commanded trajectory stored in the storage unit,
• wherein the second compensator is a proportional compensator, an integral compensator, a derivative compensator, a PID compensator, a low pass filter, a second-order derivative compensator, a time delay compensator, a time advance compensator or a notch filter, and
• wherein in changing, by the control unit, the first compensator, when the first compensator is changed to the second compensator configured to calculate the amount of correction in a different manner from the manner in which the first compensator calculates the amount of correction, the first compensator is changed by changing a formula defining the second compensator and one or more parameters included in the formula such that a value of each parameter is changed within a predetermined range, and the formula is changed.