US 11,654,556 B2
Determination apparatus for determining an operation of an industrial robot
Mikito Hane, Yamanashi (JP); and Takashi Satou, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Filed by FANUC CORPORATION, Yamanashi (JP)
Filed on Jan. 9, 2020, as Appl. No. 16/738,006.
Claims priority of application No. JP2019-005531 (JP), filed on Jan. 16, 2019.
Prior Publication US 2020/0223065 A1, Jul. 16, 2020
Int. Cl. B25J 9/16 (2006.01); G05B 13/02 (2006.01)
CPC B25J 9/1633 (2013.01) [B25J 9/163 (2013.01); B25J 9/1674 (2013.01); G05B 13/0265 (2013.01); B25J 9/1687 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A determination apparatus for determining an operation of an industrial robot that has a function of detecting force and moment applied to a manipulator, the determination apparatus comprising:
a data acquisition unit configured to acquire, as acquired data, at least a state of force and moment applied to a manipulator and a state of a position and a posture in an operation when a force control of the industrial robot is carried out;
an evaluation function creation unit configured to create an evaluation function that evaluates a quality of the operation based on the acquired data;
a determination data creation unit configured to create determination data for the acquired data using the evaluation function created by the evaluation function creation unit;
a preprocessing unit configured to create state data for machine learning based on the acquired data; and
a learning unit configured to generate a learning model for determining a quality of an operation of the industrial robot using the state data and the determination data,
wherein
the evaluation function creation unit is further configured to create the evaluation function by determining a weighting coefficient and a threshold value, and
the data acquisition unit is further configured to classify the acquired data into
a category of success that emphasizes carefulness, or
a category of failure relating to a degree of gouging relating to a force applied to a robot portion of the industrial robot or accuracy of the position of the robot portion.