US 12,304,073 B2
Machine learning device, machine learning method, and controller for robot
Shohei Kobata, Chita-gun (JP)
Assigned to DENSO WAVE INCORPORATED, Aichi (JP)
Filed by DENSO WAVE INCORPORATED, Aichi-pref. (JP)
Filed on Apr. 6, 2022, as Appl. No. 17/714,567.
Claims priority of application No. 2021-064749 (JP), filed on Apr. 6, 2021.
Prior Publication US 2022/0314436 A1, Oct. 6, 2022
Int. Cl. B25J 9/16 (2006.01); G05B 13/02 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 9/1612 (2013.01); B25J 9/1679 (2013.01); G05B 13/0265 (2013.01); B25J 9/1687 (2013.01); G05B 2219/40082 (2013.01); G05B 2219/45097 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A machine learning device that performs machine learning of an algorithm for arranging a flexible wire-like workpiece to a predetermined state using a robot, the machine learning device comprising:
an acquisition unit configured to acquire state variables showing a state of the workpiece before a start of arrangement of the workpiece which is to be performed by the robot, and acquire repeatedly the state variables during the arrangement of the workpiece which is performed by the robot to the predetermined state at which the workpiece is finally arranged, the workpiece having a connector, the state variables for each of the states including a position of the workpiece, a force applied from the workpiece when the connector of the workpiece is gripped, and a posture of the robot;
a storage unit configured to pre-store a plurality of training data for arranging the workpiece to the predetermined state; and
a learning unit configured to perform machine learning of the algorithm for arranging the workpiece based on the state variables acquired by the acquisition unit, by classifying values of the state variables acquired by the acquisition unit according to the training data pre-stored in the storage unit.