ROBOT SYSTEM AND CONTROL METHOD OF THE SAME PERFORMING LEARNING CONTROL BASED ON PROCESSING RESULT

• Main Authors: SUZUKI HAJIME, WASHIZU SHINICHI
• Format: Patent
• Language: English; Japanese
• Published: 22.08.2019
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

To perform learning control based on processing result in consideration of a whole system.SOLUTION: A learning control unit 22 comprises: a processing device performance calculation unit 24 which calculates performance of a processing device 13 based on an operation command of the control device 14 to a robot 11 during processing or after processing, a processing command of the control device 14 to the processing device 13, and the processing result measured by a sensor 15; an operation speed correction information calculation unit 29 which calculates correction information of an operation speed of the robot 11 to satisfy an allowable condition of a predetermined machining error based on the performance of the processing device 13 and a condition of an allowable load of the robot 11; and a learning completion determination unit 31 which determines whether learning is complete or not based on the previous correction information and the current correction information.SELECTED DRAWING: Figure 3 【課題】システム全体を考慮して加工結果に基づいた学習制御を行う。【解決手段】学習制御部２２は、加工中又は加工後に、制御装置１４によるロボット１１への動作指令、制御装置１４による加工装置１３への加工指令、及びセンサ１５が測定した加工結果に基づいて、加工装置１３の性能を算出する加工装置性能算出部２４と、加工装置１３の性能に基づいて、予め設定された加工誤差の許容条件を満たすように、且つ、ロボット１１の許容負荷の条件下で、ロボット１１の動作速度の補正情報を算出する動作速度補正情報算出部２９と、前回の補正情報及び今回の補正情報に基づいて学習が完了したか否かを判定する学習完了判定部３１と、を有する。【選択図】図３