US Patent No. 10,814,481

ROBOT SYSTEM FOR PERFORMING LEARNING CONTROL BY USING MOTOR ENCODER AND SENSOR


Patent No. 10,814,481
Issue Date October 27, 2020
Title Robot System For Performing Learning Control By Using Motor Encoder And Sensor
Inventorship Shinichi Washizu, Yamanashi (JP)
Hajime Suzuki, Yamanashi (JP)
Assignee Fanuc Corporation, Yamanashi (JP)

Claim of US Patent No. 10,814,481

1. A robot system comprising a robot mechanism unit provided with a sensor and a motor encoder for detecting a position of a control target, and a robot control device which controls an operation of the robot mechanism unit in accordance with an operation program, the robot system comprising:a learning control unit which causes the robot mechanism unit to operate in accordance with an operation command related to a target position of the control target to estimate a position error between an estimated position of the control target and the target position and perform learning by newly calculating a new correction amount, based on the estimated position error and a correction amount calculated previously to bring the estimated position of the control target closer to the target position; and
a robot control unit which corrects the operation command by using the newly calculated correction amount, to control the operation of the robot mechanism unit,
wherein the learning control unit comprises a position error estimating section which estimates a low-frequency component in the position error, based on information from the motor encoder, and estimates a high-frequency component in the position error, based on information from the sensor.