Robot and spot welding robot with learning control function

摘要

A robot (100) has a robot mechanism unit (1) having a sensor (10) and a control unit (2), and the control unit (2) includes a normal control unit (4) that controls the operation of the robot mechanism unit, and a learning control unit (3) that, when the robot mechanism unit (1) is operated by a speed command that is given by multiplying a teaching speed designated in a task program by a speed change ratio, performs learning to calculate, from a detection result by the sensor (10), a learning correction amount for making the trajectory or position of the control target in the robot mechanism unit (1) approach the target trajectory or target position, or for reducing the vibration of the control target, and performs processes so that the control target position of the robot mechanism unit (1) moves along a fixed trajectory regardless of the speed change ratio.

主权项

1. A robot comprising a robot mechanism unit that has a sensor in a part that is subject to position control, and a control unit that controls an operation of the robot mechanism unit,
wherein the control unit comprises: a normal control unit that controls the operation of the robot mechanism unit; a learning control unit that, when the robot mechanism unit is operated by a speed command given by multiplying a teaching speed designated in a task program by a speed change ratio, calculates, from a result detected by the sensor, a learning correction amount configured to make a trajectory or position of a control target of the robot mechanism unit approach a target trajectory or target position that is assigned to the normal control unit, or a learning correction amount configured to reduce a vibration of the control target that is produced when the robot mechanism unit is operated; and a teaching control unit configured to teach or correct a position or speed in the task program, and performs processes so that a control target position of the robot mechanism unit moves on a fixed trajectory regardless of the speed change ratio, wherein the normal control unit operates the robot mechanism unit by a position command that is based on the teaching position set in the task program, the learning correction amount that is calculated by the learning control unit, and the speed command that is given by multiplying the teaching speed set in the task program by the speed change ratio that is used upon calculation of the learning correction amount, and, after the learning correction amount is calculated by the learning control unit, when the position of a teaching point is corrected by the teaching control unit, if a distance between the position of the teaching point after the position correction and the position of the teaching point before the position correction is equal to or greater than a predetermined distance, controls move to the teaching point at the teaching speed, and, if the distance is less than the predetermined threshold, controls the move to the teaching point by the speed command.