LEARNING CONTROL METHOD FOR ROBOT

PURPOSE:To provide the learning control method for the robot which can improve deterioration of a learning function due to the influence of errors that a target track and the actual track of the robot have at initial time. CONSTITUTION:In a 1st step, various errors that the target track and actual track have are measured throughout a time section and in a 2nd step, a coefficient (learning gain) which is zero in the time section from the initial time to proper time and varies in the time section with a frequency of reproducing operation is calculated. In a 3rd step, the respective errors measured in the 1st step are multiplied by the coefficient calculated in the 2nd step and in a 4th step, the respective multiplication results and an input value supplied to a driving part at the time of last reproducing operation are added. In a following 5th step, the addition result is supplied to the driving part as an input value for next reproducing operation.