Abstract: A control device that outputs a command for a robot includes a machine learning device that learns a command for the robot. The machine learning device includes a state observation unit that observes a state of the robot and a state of a person present in a peripheral area of the robot, as state variables representing a current state of an environment, a determination data acquisition unit that acquires determination data representing an interference state between the robot and the person, and a learning unit that learns the state of the robot, the state of the person present in the peripheral area of the robot, and the command for the robot obtained by associating the state of the robot and the state of the person present in the peripheral area of the robot by using the state variables and the determination data.

Abstract: A robot system includes: a robot; a sensor that detects entry of a person into a peripheral region of the robot; and a control device that controls the robot and the sensor. The control device is provided with: a robot control unit that controls the robot; an operating-region prediction unit that sequentially predicts an operating region of the robot up to a predetermined time later; and a detection-region control unit that sets to enabled a detection result of the sensor in a region, of the peripheral region, that includes the operating region, which is predicted by the operating-region prediction unit, and sets to disabled the detection result of the sensor in the other region of the peripheral region. The robot control unit limits the operation of the robot when entry of a person is detected in the region where the detection result of the sensor has been set to enabled.

Abstract: A control device that outputs a command for a robot includes a machine learning device that learns a command for the robot. The machine learning device includes a state observation unit that observes a state of the robot and a state of a person present in a peripheral area of the robot, as state variables representing a current state of an environment, a determination data acquisition unit that acquires determination data representing an interference state between the robot and the person, and a learning unit that learns the state of the robot, the state of the person present in the peripheral area of the robot, and the command for the robot obtained by associating the state of the robot and the state of the person present in the peripheral area of the robot by using the state variables and the determination data.