Machine learning device, robot controller, robot system, and machine learning method for learning action pattern of human

Inactive Publication Date: 2017-02-02
FANUC CORP +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Benefits of technology

[0011]The training data set may include an action value variable representing a value of an action of the robot set for each state of the robot and each action of the robot, and the learning unit may include a reward computation unit that sets a reward, based on the determination data and the state

Problems solved by technology

Even when, for example, the same task is performed, the level of fatigue of a human varies and the level of burden also varies depending on the velo

Method used

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  • Machine learning device, robot controller, robot system, and machine learning method for learning action pattern of human
  • Machine learning device, robot controller, robot system, and machine learning method for learning action pattern of human
  • Machine learning device, robot controller, robot system, and machine learning method for learning action pattern of human

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Embodiment Construction

[0026]A machine learning device, a robot controller, a robot system, and a machine learning method according to an embodiment will be described below with reference to the accompanying drawings. However, it is to be understood that the present invention should be limited neither to the drawings nor to the following embodiment.

[0027]The robot system allows a human and a robot to cooperate together to perform a predetermined task. This embodiment illustrates how a human and a robot cooperate together to transport a workpiece.

[0028]FIG. 1 is a schematic view illustrating the robot system in this embodiment. FIG. 2 is a block diagram illustrating an exemplary robot system in this embodiment. Referring to FIG. 1 and FIG. 2, a robot system 3 includes a robot 1 which assists in transporting a workpiece W, and a robot controller 2 which controls the robot 1. The robot 1 according to this embodiment is implemented in a multi-articulated robot including an arm 12 and a plurality of joint port...

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Abstract

A machine learning device for a robot that allows a human and the robot to work cooperatively, the machine learning device including a state observation unit that observes a state variable representing a state of the robot during a period in that the human and the robot work cooperatively; a determination data obtaining unit that obtains determination data for at least one of a level of burden on the human and a working efficiency; and a learning unit that learns a training data set for setting an action of the robot, based on the state variable and the determination data.

Description

BACKGROUND OF THE INVENTION[0001]1. Field of the Invention[0002]The present invention relates to a machine learning device, a robot controller, a robot system, and a machine learning method for learning the action pattern of a human.[0003]2. Description of the Related Art[0004]In conventional techniques, to ensure human safety, safety measures are taken to forbid humans from entering the working area of a robot when the robot is driven. For example, a robot is enclosed with a safety fence to forbid humans to step over the safety fence during the period in which the robot is driven. In recent years, a robot system which allows a human to work cooperatively with a robot is known. The robot system allows the robot and the human to simultaneously perform one task without enclosing the robot with a safety fence.[0005]Japanese Laid-open Patent Publication No. 2015-123505 discloses an industrial robot which works cooperatively with a human. The robot includes a movable unit, a protective m...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J9/00B25J13/08
CPCB25J9/163B25J9/1694B25J9/0084B25J9/1653B25J13/088B25J13/00B25J13/08B25J13/084B25J13/085B25J19/06B25J9/1676G05B2219/40202G05B2219/39271G05B2219/40499G06N3/006G06N3/088G05B2219/40391G06N7/01G06N3/08
Inventor TSUDA, TAKETSUGUOKANOHARA, DAISUKEOKUTA, RYOSUKEMATSUMOTO, EIICHIKAWAAI, KEIGO
Owner FANUC CORP
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