Patent Document ID: 8271134
Application ID: 13029550
Patent Flag: 1

Claim One:
1. A robot comprising: a robot mechanism unit having a sensor for detecting position of a control objective part to be controlled; and a control unit for controlling the operation of the robot mechanism unit; wherein the control unit includes: a normal control unit for being provided position command for a target position or a target trajectory for the control objective part and controlling the operation of the robot mechanism unit using the provided position command and learning correction amount; and a learning control unit for operating the robot mechanism unit according to a task program using the position command and the learning correction amount, calculating a target correction amount which is a difference between a position of the control objective part detected by the sensor and the target position, and carrying out learning to calculate a new learning correction amount based on the learning correction amount and the target correction amount in order that position of the control objective part approaches the target position; and wherein the learning control unit calculates preliminarily a maximum speed override that can be set in the learning, repeats the learning to calculate the new learning correction amount using the learning correction amount in order to converge vibration at each speed override while increasing the speed override by predetermined increments a plurality of times until the maximum speed override is reached, and stores the new learning correction amount after convergence of vibration.