A robot control device includes a modification work trained model building section. The modification work trained model building section builds a modification work trained model by training on modification work data when a user's modification operation is performed to intervene in a provisional operation of a robot arm to perform a series of operations. In the modification work data, input data is a state of the robot arm and its surroundings when the robot arm is operating and output data is data of the operation by a user for modifying the provisional operation or the modification operation of the robot arm by the user's operation for modifying the provisional operation.

A machine learning device acquires, as a label, a command output by a servo control apparatus to a control target device so as to drive and control the control target device. The machine learning device acquires, as input data, an output of the control target device driven based on the command, and constructs a learning model relating to feedforward control for correcting the command, by performing supervised learning by use of a set of the label and the input data serving as teaching data.

To easily perform adjustment relating to feedforward control and also to improve command follow-up performance. A machine learning device includes label acquisition means for acquiring, as a label, a command output by a servo control apparatus to a control target device so as to drive and control the control target device, input data acquisition means for acquiring, as input data, an output of the control target device driven based on the command, and learning means for building a learning model relating to feedforward control for correcting the command, by performing supervised learning by use of a set of the label and the input data serving as teacher data.

A robot control device includes a modification work trained model building section. The modification work trained model building section builds a modification work trained model by training on modification work data when a user's modification operation is performed to intervene in a provisional operation of a robot arm to perform a series of operations. In the modification work data, input data is a state of the robot arm and its surroundings when the robot arm is operating and output data is data of the operation by a user for modifying the provisional operation or the modification operation of the robot arm by the user's operation for modifying the provisional operation.