Title:
機械学習装置、サーボ制御装置、サーボ制御システム及び機械学習方法
Document Type and Number:
Japanese Patent JP7405537
Kind Code:
B2
Abstract:
A machine learning device performs machine learning with respect to a plurality of servo control units corresponding to a plurality of axes. A first servo control unit related to an axis receiving interference includes a compensation unit that compensates for at least one of a position error, a velocity command, and a torque command of the first servo control unit based on at least one of a variable related to a position command and a variable related to position feedback information of a second servo control unit related to an axis generating the interference. The machine learning device acquires state information including first and second servo control information and a coefficient of the function, outputs action information and a reward value for reinforcement learning, and updates a value function on the basis of the reward value, the state information, and the action information.
Inventors:
Beam
Ryotaro Tsuneki
Ryotaro Tsuneki
Application Number:
JP2019161883A
Publication Date:
December 26, 2023
Filing Date:
September 05, 2019
Export Citation:
Assignee:
FANUC CORPORATION
International Classes:
G05B19/19; G05B11/36; G05B13/02; G05B19/4155; G05D3/12
Domestic Patent References:
| JP2017102617A | ||||
| JP8314517A | ||||
| JP2019008472A |
Attorney, Agent or Firm:
Masayuki Shobayashi
Tetsuo Shiba
Hiroaki Hoshino
Tetsuo Shiba
Hiroaki Hoshino