Robot apparatus having learning function

• US 10,254,741 B2
• Filed: 01/12/2017
• Issued: 04/09/2019
• Est. Priority Date: 01/14/2016
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Wang, Kaimeng, Chen, Wenjie
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US15/405,190
• Publication Number:
  US 20170205802A1
• Time in Patent Office: 817 Days
• Field of Search: 700245-264
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: G05B 19/404 characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia G05B19/19, G05B19/41 take precedence
• CPC Class Codes: G05B 2219/39352 Feedback error learning, ffw ann compensates torque, feedback from pd to ann

Abstract

A robot apparatus includes a robot mechanism; a sensor provided in a portion whose position is to be controlled, of the robot mechanism, for detecting a physical quantity to obtain positional information of the portion; and a robot controller having an operation control unit for controlling the operation of the robot mechanism. The robot controller includes a learning control unit for calculating a learning correction value to improve a specific operation of the robot mechanism based on the physical quantity detected, while the operation control unit makes the robot mechanism perform the specific operation, with the sensor; and a learning extension unit for obtaining the relationship between the learning correction value calculated by the learning control unit and information about the learned specific operation, and calculates another learning correction value to improve a new operation by applying the obtained relationship to information about the new operation without sensor.

Claims

1. A robot apparatus comprising:

a robot mechanism;

a sensor provided in a portion, the position of which is to be controlled, of the robot mechanism, for detecting a physical quantity to directly or indirectly obtain positional information of the portion; and

a robot controller having an operation control unit for controlling the operation of the robot mechanism, wherein

the robot controller includes;

a learning control unit for calculating a learning correction value to improve a specific operation of the robot mechanism based on the physical quantity detected, while the operation control unit makes the robot mechanism perform the specific operation, with the sensor; and

a learning extension unit for obtaining the relationship between the learning correction value calculated by the learning control unit and information about the learned specific operation, and calculates another learning correction value to improve a new operation that is different from the specific operation of the robot mechanism, by applying the obtained relationship to information about the new operation without sensor, and

wherein the learning extension unit obtains a transfer function between the learning correction value and the operation information from spectrograms of the learning correction value calculated by the learning control unit and the information about the specific operation of the robot mechanism, and calculates the learning correction value for the new operation based on the transfer function by input of the information about the new operation.

2. The robot apparatus according to claim 1, wherein the operation information of the robot mechanism includes at least one of position, operation velocity, acceleration, and inertia.

3. The robot apparatus according to claim 1, wherein

the robot controller makes the operation control unit operate the robot mechanism at a maximum speed or a maximum acceleration allowed by the robot mechanism or in a simulation mode to obtain the operation information on the robot mechanism, and

the learning extension unit calculates the learning correction value for the new operation based on the operation information.

4. The robot apparatus according to claim 1, wherein the specific operation is an operation used in an operation program, or an operation in or about an X axis, a Y axis, or a Z axis automatically generated in a specified operation range.