ROBOT CONTROL ALGORITHM CONSTRUCTION DEVICE, ROBOT CONTROL ALGORITHM CONSTRUCTION PROGRAM, ROBOT CONTROL DEVICE, ROBOT CONTROL PROGRAM, AND ROBOT

摘要

A device for constructing a control algorithm to control a robot motion and a device for controlling the robot motion according to the constructed control algorithm. In order to considerably reducing the cost and the time for preparing the control algorithm compared with a system of solving dynamic equations such as a conventional MZP method, the control algorithm is constructed by a recurrent neural network (RNN) including neurons for generating the output accompanied by the analog time delay to the input, and the coefficients of the RNN are successively determined from the lower order terms to the higher order terms.