Robot system for performing learning control based on processing result and control method thereof

摘要

A learning control unit includes a machining device performance calculation section for calculating performance of a machining device during machining or after machining based on a motion command issued to a robot by a controller, a machining command issued to the machining device by the controller, and machining results measured by a sensor, an operation speed correction information calculation section for calculating operation speed correction information of the robot based on the performance of the machining device so as to satisfy a preset acceptable condition of the machining error, and under an allowable load condition of the robot, and a learning completion determination section for determining whether or not learning has completed based on previous correction information and current correction information.