Machine learning apparatus and method, and servo control apparatus and system

Abstract

The invention provides a machine learning apparatus and method and a servo control apparatus and system, to perform reinforcement learning enabling to prevent complicated adjustment of coefficients ofbacklash compensation and backlash acceleration compensation. A machine learning apparatus (200) includes a state information acquiring part (201) for acquiring, from a servo control apparatus (100),state information including at least position deviation and a set of coefficients to be used by a backlash acceleration compensating part (110), by making the servo control apparatus (100) execute apredetermined machining program, an action information output part (203) for outputting action information including adjustment information on the set of coefficients included in the state informationto the servo control apparatus (100), a reward output part (2021) for outputting a reward value in the reinforcement learning on the basis of the position deviation included in the state information,and a value function updating part (2022) for updating an action-value function on the basis of the reward value output by the reward output part, the state information and the action information.

Description

technical field [0001] The present invention relates to a machine learning device for performing reinforcement learning on a servo control device that performs backlash correction control and backlash acceleration correction control, a servo control device including the machine learning device, a servo control system including the machine learning device and the servo control device, And the machine learning method, wherein the reinforcement learning is learning of backlash correction parameters in backlash correction control and / or backlash acceleration correction parameters in backlash acceleration correction control. Background technique [0002] Conventionally, servo motors have been used in control systems that use the position, orientation, posture, etc. of an object as control variables, such as control systems for machine tools or industrial machinery. In the mechanical elements engaged with each other as mechanical elements for transmitting the rotation of the motor...

AI Technical Summary

Problems solved by technology

However, the more complex the backlash correction or backlash acceleration correction is, the more difficult it is to adjust the parameters (also called "coefficients") used for backlash correction or backlash acceleration correction

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