Machine learning device, robot system, and machine learning method for learning workpiece picking operation
US10717196B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Jul 29, 2016 |
| Grant date | Jul 21, 2020 |
| Priority date | — |
| Expiry date | Jul 29, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40053
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A machine learning device that learns an operation of a robot for picking up, by a hand unit, any of a plurality of workpieces placed in a random fashion, including a bulk-loaded state, includes a state variable observation unit that observes a state variable representing a state of the robot, including data output from a three-dimensional measuring device that obtains a three-dimensional map for each workpiece, an operation result obtaining unit that obtains a result of a picking operation of the robot for picking up the workpiece by the hand unit, and a learning unit that learns a manipulated variable including command data for commanding the robot to perform the picking operation of the workpiece, in association with the state variable of the robot and the result of the picking operation, upon receiving output from the state variable observation unit and output from the operation result obtaining unit.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.