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Title:
CONTROL DEVICE AND MACHINE LEARNING DEVICE
Document Type and Number:
Japanese Patent JP2019166626
Kind Code:
A
Abstract:
To provide a general control device and a machine learning device that can estimate command data to be commanded for respective axes of a robot based upon a target trajectory of the robot.SOLUTION: A machine learning device 100 that a control device 1 according to the present invention is configured to learn estimation of command data to be commanded to axes that a robot 2 comprises for trajectory data of the robot 2, and comprises: an axis angle conversion part 105 which calculates, from the trajectory data, a variation quantity of an axis angle of an axis that the robot 2 comprises; a state observation part 106 which observes, as a state variable indicative of a current state of environment, axis angle data associated with the variation quantity of the axis angle of an axis that the robot 2 comprises; a label data acquisition part 108 which acquires, as label data, axis angle command data associated with the command data to the axis that the robot 2 comprises; and a learning part 110 which uses the state variable and label data to relate and learn the variation quantity of the axis angle of the axis that the robot 2 comprises and the command data to the axis.SELECTED DRAWING: Figure 2

Inventors:
HAYASHI KOICHIRO
Application Number:
JP2018058685A
Publication Date:
October 03, 2019
Filing Date:
March 26, 2018
Export Citation:
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Assignee:
FANUC LTD
International Classes:
B25J13/00; B25J9/10; G06N20/00
Attorney, Agent or Firm:
Aiwa Patent Service Corporation