ROBOT FOR EXECUTING LEARNING CONTROL TAKING APPLICATION IN PRODUCTION LINE INTO CONSIDERATION AND METHOD FOR CONTROL THEREOF

• Main Authors: SUZUKI HAJIME, WANG KAIMENG, WASHIZU SHINICHI
• Format: Patent
• Language: English; Japanese
• Published: 27.09.2018
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

PROBLEM TO BE SOLVED: To provide a robot for executing learning control taking application in a production line into consideration.SOLUTION: A control device 13 has a learning control part 19 which calculates a differential amount which is a difference between a position of a control object part detected based on a sensor 11 and a target position, repeats learning for calculating a new correction amount based on a correction amount and a differential amount which are calculated at the previous time in order to suppress oscillation at an operation speed change ratio of each time while increasing or decreasing an operation speed change rate over plural times within a range which does not exceed a maximum value of an operation speed change rate which is set in order to increase or decrease an operation speed of a robot mechanism part 12 and within a range of allowable condition for oscillation which occurs at the control object part, and after the correction amount and the operation speed change ratio are converged, stores the correction amount and the operation speed change ratio at the convergence time.SELECTED DRAWING: Figure 3 【課題】生産ラインにおける運用を考慮した学習制御を行うロボットを提供する。【解決手段】制御装置１３は、センサ１１に基づいて検出された制御対象部位の位置と目標位置との差分である差分量を算出し、ロボット機構部１２の動作速度を増加又は減少するために設定される動作速度変更率の最大値を超えない範囲内で、且つ、制御対象部位で発生する振動の許容条件の範囲内で、複数回に渡って動作速度変更率を増加又は減少させながら、各回の動作速度変更率における振動を抑制させるために前回算出された補正量と差分量とに基づいて、新たな補正量を算出する学習を繰返すと共に、補正量及び動作速度変更率が収束した後に、収束した際の補正量及び動作速度変更率を記憶する、学習制御部１９を有する。【選択図】図３