| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot having a learning control function for improving the precision of the trajectory of an end effector, and further to provide a method for controlling this robot. SOLUTION: A robot controlling apparatus 10 learns an optimum action by repeating the test run of an operation program while measuring the information of the end effector 5 in the state that an acceleration sensor 50 and a vision sensor 52 are attached to the end effector 5 of the robot 1. In the following actual action, a highly precise operation based on the learned optimum action is carried out without using the sensors 50, 52. In the actual operation, it is allowable to dismount the sensors 50, 52. COPYRIGHT: (C)2006,JPO&NCIPI
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