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MACHINE LEARNING DEVICE, SERVO MOTOR CONTROL DEVICE, SERVO MOTOR CONTROL SYSTEM, AND MACHINE LEARNING METHOD
MACHINE LEARNING DEVICE, SERVO MOTOR CONTROL DEVICE, SERVO MOTOR CONTROL SYSTEM, AND MACHINE LEARNING METHOD
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机译:机器学习装置,伺服电动机控制装置,伺服电动机控制系统及机器学习方法
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摘要
A machine learning device is configured to perform machine learning with respect to a servo motor control device including a non-linear friction compensator that creates a compensation value with respect to non-linear friction on the basis of a position command, the machine learning device including: a state information acquisition unit configured to acquire state information including a servo state including position error, and combination of compensation coefficients of the non-linear friction compensation unit, by causing the servo motor control device to execute a predetermined program; an action information output unit configured to output action information including adjustment information of the combination of compensation coefficients; a reward output unit configured to output a reward value in reinforcement learning, based on the position error; and a value function updating unit configured to update an action value function on the basis of the reward value, the state information, and the action information.
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