LEARNING CONTROLLER FOR ROBOT ARM

PURPOSE:To reduce less an error with each repetition of trials and to improve the performance of the learning control of a robot arm, by storing the error produced from a preceding trial into an error memory part in the form of the control result and setting with calculation the gain of the motion control signal in proportion to the value of the error at the next trial stage. CONSTITUTION:The answer value theta' corresponding to the command value thetaof a robot 11 varies in response to the time change of the value theta. Here an error DELTAtheta is obtained by subtracting the value theta' from the value theta and stored in an error memory part 14. The error signal DELTAtheta stored in the part 14 is supplied to a gain correcting circuit 13 at the next motion control time point for calculation of the feedback gain. Thus the learning effect is obtained with reduction of the gain secured to the command value by repeating trials. This improves the motion control performance of a robot arm.