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公开(公告)号：US20170357243A1
公开(公告)日：2017-12-14
申请号：US15609336
申请日：2017-05-31
申请人： FANUC CORPORATION
发明人： Kanta TAKAYAMA , Kazuo SATO , Hideaki MAEDA
IPC分类号： G05B19/4065 , G05B19/4093
CPC分类号： G05B19/4065 , G05B19/40938 , G05B2219/33321 , G05B2219/39352 , G05B2219/49307 , G06N3/08
摘要： A machine learning device for learning a threshold value of detecting an abnormal load in a machine tool, includes a state observation unit, and a learning unit. The state observation unit observes a state variable obtained based on at least one of information about a tool, main spindle revolution rate, and amount of coolant of the machine tool, material of a workpiece, and moving direction, cutting speed, and cut depth of the tool, and the learning unit learns the threshold value of detecting an abnormal load based on training data created from an output of the state observation unit and data related to detection of an abnormal load in the machine tool and on teacher data.
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公开(公告)号：US20170205802A1
公开(公告)日：2017-07-20
申请号：US15405190
申请日：2017-01-12
申请人： FANUC CORPORATION
发明人： Kaimeng WANG , Wenjie CHEN
IPC分类号： G05B19/404 , B25J9/16
CPC分类号： G05B19/404 , B25J9/163 , G05B2219/39352
摘要： 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.
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公开(公告)号：US20170123385A1
公开(公告)日：2017-05-04
申请号：US15335452
申请日：2016-10-27
申请人： FANUC CORPORATION
发明人： Kazunori IIJIMA
IPC分类号： G05B13/02 , G06N99/00 , G05B19/402
CPC分类号： G05B13/0265 , G05B19/19 , G05B19/402 , G05B2219/39352 , G05B2219/41144 , G05B2219/41166 , G05B2219/42128 , G05B2219/42141 , G05B2219/50281 , G06N99/005
摘要： A servo control system includes a position command generator, a position detector for a feed axis, a positional deviation obtainer for calculating a positional deviation, a position control loop, a band limiting filter for attenuating a high frequency component of the positional deviation, a dynamic characteristic compensation element for advancing a phase, a learning controller including the band limiting filter and the dynamic characteristic compensation element, a sine wave sweep input unit for applying a sine wave sweep to the position control loop, a frequency characteristic calculator for estimating the gain and phase of position control loop input and output signals, and a learning control characteristic evaluation function calculator for calculating an evaluation function, which indicates a position control characteristic with the learning controller based on a frequency characteristic by actual measurement and a frequency characteristic of the learning controller.
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公开(公告)号：US08271131B2
公开(公告)日：2012-09-18
申请号：US13029641
申请日：2011-02-17
IPC分类号： G05B19/04
CPC分类号： G05B19/404 , G05B2219/39352
摘要： A robot with a learning control function is disclosed. The robot includes a robot mechanism unit, a learning control unit for obtaining data on positional deviation of the robot mechanism unit upon execution of a task program and executing a learning control for calculating a learning correction amount in order to decrease the positional deviation of the robot mechanism unit below a certain value, a normal control unit for executing a learning operation of the robot mechanism unit in order to obtain the data during the learning control and executing an actual operation of the robot mechanism unit based on the learning correction amount calculated by the learning control unit after executing the learning control, and an anti-exception processing unit for executing an anti-exception process in the case where an exception process occurs during the learning operation or the actual operation.
摘要翻译： 公开了具有学习控制功能的机器人。 机器人包括机器人机构单元，学习控制单元，用于在执行任务程序时获取关于机器人机构单元的位置偏差的数据，并且执行用于计算学习校正量的学习控制，以便减小机器人的位置偏差 机构单元低于一定值，正常控制单元，用于执行机器人机构单元的学习操作，以便在学习控制期间获得数据，并且基于由所述机器人机构单元计算的学习校正量来执行机器人机构单元的实际操作 在执行学习控制之后的学习控制单元，以及用于在学习操作或实际操作期间发生异常处理的情况下执行防异常处理的防异常处理单元。
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公开(公告)号：US20110208354A1
公开(公告)日：2011-08-25
申请号：US13029641
申请日：2011-02-17
IPC分类号： B25J9/00
CPC分类号： G05B19/404 , G05B2219/39352
摘要： A robot with a learning control function is disclosed. The robot includes a robot mechanism unit, a learning control unit for obtaining data on positional deviation of the robot mechanism unit upon execution of a task program and executing a learning control for calculating a learning correction amount in order to decrease the positional deviation of the robot mechanism unit below a certain value, a normal control unit for executing a learning operation of the robot mechanism unit in order to obtain the data during the learning control and executing an actual operation of the robot mechanism unit based on the learning correction amount calculated by the learning control unit after executing the learning control, and an anti-exception processing unit for executing an anti-exception process in the case where an exception process occurs during the learning operation or the actual operation.
摘要翻译： 公开了具有学习控制功能的机器人。 机器人包括机器人机构单元，学习控制单元，用于在执行任务程序时获取关于机器人机构单元的位置偏差的数据，并且执行用于计算学习校正量的学习控制，以便减小机器人的位置偏差 机构单元低于一定值，正常控制单元，用于执行机器人机构单元的学习操作，以便在学习控制期间获得数据，并且基于由所述机器人机构单元计算的学习校正量来执行机器人机构单元的实际操作 在执行学习控制之后的学习控制单元，以及用于在学习操作或实际操作期间发生异常处理的情况下执行防异常处理的防异常处理单元。
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