Patent Document ID: 9592605
Application ID: 14550632
Patent Flag: 1

Claim One:
1. A robot control method capable of, by a control unit, controlling a robot so as to be driven according to a commanded trajectory, detecting an actual trajectory along which the robot is driven, and controlling the commanded trajectory by learning based on a trajectory error between the actual trajectory and a target trajectory, the method comprising: calculating, by the control unit, a trajectory error; and controlling, by the control unit, the commanded trajectory by learning, the controlling by learning including performing storing, by the control unit, such that in a case where the calculated trajectory error is less than a trajectory error stored in a storage unit, the trajectory error stored in the storage unit is updated by the calculated trajectory error, the calculated trajectory error is stored in the storage unit, and a commanded trajectory stored in the storage unit is updated by a commanded trajectory based on which the calculated trajectory error is obtained, changing, by the control unit, a first compensator to a second compensator such that in a case where the calculated trajectory error is more than the trajectory error stored in the storage unit, the first compensator is changed to the second compensator that is configured to calculate an amount of correction of the commanded trajectory from the trajectory error and that is configured to calculate the amount of correction in a different manner from a manner in which the first compensator calculates the amount of correction, and calculating, by the control unit, a commanded trajectory in a next-time operation such that the amount of correction for the commanded trajectory stored in the storage unit is calculated using a selected compensator, and the commanded trajectory in the next-time operation is calculated from the calculated amount of correction and the commanded trajectory stored in the storage unit, wherein the second compensator is a proportional compensator, an integral compensator, a derivative compensator, a PID compensator, a low pass filter, a second-order derivative compensator, a time delay compensator, a time advance compensator or a notch filter, and wherein in changing, by the control unit, the first compensator, when the first compensator is changed to the second compensator configured to calculate the amount of correction in a different manner from the manner in which the first compensator calculates the amount of correction, the first compensator is changed by changing a formula defining the second compensator and one or more parameters included in the formula such that a value of each parameter is changed within a predetermined range, and the formula is changed.