Human collaborative robot system having improved external force detection accuracy by machine learning

Abstract

The invention provides a human collaborative robot system having an improved external force detection accuracy by machine learning. The human collaborative robot system having a function of detectinga force includes a human collaborative robot and a learning unit into which sensing data, internal data, and calculation data are input. The learning unit outputs a first force component applied to the human collaborative robot from outside, a second force component occurring in an operation of the human collaborative robot, and a third force component categorized as noise; and performs learning using supervised data in which inputs and correct labels obtained in advance are collected in pairs, wherein the correct labels of the supervised data are obtained by exerting a force on the human collaborative robot from outside, operating the human collaborative robot over a plurality of paths, and applying noise to the human collaborative robot, and the operation of the human collaborative robotis controlled based on the first force component output from the learning unit.

Description

technical field [0001] The invention relates to a human collaborative robot system which improves the detection accuracy of external force through machine learning. Background technique [0002] Conventionally, in the robot system, in order to ensure the safety of human beings while the robot is operating, safety measures have been taken to prevent human beings from entering the work area of ​​the robot. For example, a safety fence is provided around the robot, and people are prohibited from entering the inside of the safety fence while the robot is operating. [0003] In recent years, a robot (human collaborative robot) in which a human and a robot work cooperatively (collaboratively) has been researched and developed, and has been put into practical use. In such a human collaborative robot (human collaborative robot system), for example, the robot performs one task in cooperation with a human (operator, user) without installing a safety fence around the robot. [0004] H...

AI Technical Summary

Problems solved by technology

[0011] In addition, in the human collaborative robot system, since the calculated external force includes noise or the force generated by the vibration of the robot, the detection accuracy of the external force is reduced, for example, it may cause the robot to stop incorrectly.

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