Robot with learning control function and method for controlling the robot

Abstract

A robot having a learning function for improving the trajectory accuracy of an end effector and a control method for the robot. The robot controller learns the optimal motion by measuring the information of the end effector with the acceleration sensor and the video sensor attached to the end effector of the robot, and repeating the test run of the motion program. In the subsequent actual operation, high-precision movement is performed based on the learned optimum movement without using an acceleration sensor or a video sensor. The acceleration sensor and the video sensor can also be removed during actual operation.

Description

technical field [0001] The present invention relates to a robot with a learning control function and a control method for the robot. Background technique [0002] Conventionally, as an apparatus having a learning control function for controlling the motion of a robot, there is, for example, a servo control apparatus disclosed in JP-A-2004-227163. This servo control device includes a learning control unit that corrects the positional deviation while generating correction data based on the positional deviation in the same command format and storing it in a memory. The learning control means can correct the positional deviation while generating correction data based on the positional deviation from the learning control start command to the learning control end command. In this case, the sensor used for learning control is generally installed on the end effector end effector of the robot, etc., and outputs data. [0003] Further, regarding position correction, JP-A-5-92378 des...

AI Technical Summary

Problems solved by technology

At this time, it is sometimes necessary to perform maintenance of the sensor more frequently, and it is necessary to prepare multiple sensors for replacement in case of failure.

Also, depending on the operating environment of the end effector end effector, there may be concerns that the sensor may interfere with other machines, etc.

[0005] Moreover, the industrial robot described in Japanese Patent Laid-Open No. 5-92378 uses a video sensor, and a general video sensor has the following frequency characteristics: due to the relationship with the time interval of captured images, etc., it is suitable for tracking relatively low frequency , but cannot track the high-frequency deviation

Therefore, it is slightly insufficient for higher precision control

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