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MACHINE LEARNING DEVICE, ROBOT CONTROL DEVICE AND ROBOT VISION SYSTEM USING MACHINE LEARNING DEVICE, AND MACHINE LEARNING METHOD
MACHINE LEARNING DEVICE, ROBOT CONTROL DEVICE AND ROBOT VISION SYSTEM USING MACHINE LEARNING DEVICE, AND MACHINE LEARNING METHOD
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机译:机器学习设备,使用该机器学习设备的机器人控制设备和机器人视觉系统以及机器学习方法
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摘要
A machine learning device includes a state observation unit for observing, as state variables, an image of a workpiece captured by a vision sensor, and a movement amount of an arm end portion from an arbitrary position, the movement amount being calculated so as to bring the image close to a target image; a determination data retrieval unit for retrieving the target image as determination data; and a learning unit for learning the movement amount to move the arm end portion or the workpiece from the arbitrary position to a target position. The target position is a position in which the vision sensor and the workpiece have a predetermined relative positional relationship. The target image is an image of the workpiece captured by the vision sensor when the arm end portion or the workpiece is disposed in the target position.
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