MACHINE LEARNING DEVICE, ROBOT CONTROL DEVICE USING MACHINE LEARNING DEVICE, ROBOT VISION SYSTEM, AND MACHINE LEARNING METHOD

摘要

To solve a problem in a conventional robot system that a load on an operator is heavy.SOLUTION: A machine learning device includes: a state observation unit for observing an image of work captured by a visual sensor and a movement amount of an arm tip from an arbitrary position calculated so as to cause the image to get close to a target image as state variables; a determination data acquisition unit for acquiring the target image as determination data; and a learning unit for learning a movement amount to move the arm tip or the work from an arbitrary position to a target position according to a training data set composed of a combination of the state variables and the determination data. The target position is a position in which the visual sensor becomes a predetermined relative position relationship with the work, and the target image is an image of the work captured by the visual sensor provided when the arm tip or the work is arranged at the target position.SELECTED DRAWING: Figure 2