Seiko Epson Corporation

Jun Toda

Kimitake Mizobe

Ryutaro Seki

Takahisa Fukusen

Atsushi Toyofuku

Shota Morozumi

A method of adjusting an action parameter includes a positional posture determination step of making a robot execute a task a plurality of times in a plurality of positional postures different in positional posture of an object when starting the task to obtain evaluation values of the respective tasks, comparing the evaluation values of the tasks out of the evaluation values of the respective tasks with a reference evaluation value, and determining an evaluation positional posture from the positional postures in the tasks in which the evaluation value is no higher than the reference evaluation value, an updating step of making the robot operate with a tentative action parameter using the evaluation positional posture as a starting positional posture in the task to measure a time taken for the task or a vibration of the robot, and updating the tentative action parameter based on a measurement result, and a determination step of repeatedly performing the updating step until the time taken for the task or the vibration of the robot measured is converged to determine latest one of the tentative action parameters as an action parameter when actually performing the task.

Method of adjusting action parameter

A method of the present disclosure includes (a) receiving settings of an objective function and a constraint condition, (b) controlling a robot to execute work using a candidate value of a control parameter and measuring a performance index value for the objective function and a constraint evaluation value, (c) searching for a next candidate value of the control parameter by executing optimization processing using a value of the objective function, (d) obtaining the values of the objective function and the constraint evaluation values with respect to the plurality of candidate values by repeating (b) and (c), and (e) displaying a processing result containing a correlation chart showing the values of the objective function and the constraint evaluation values with respect to each of the plurality of candidate values.

Method of setting control parameter of robot, robot system, and computer program

A method of the present disclosure includes (a) a step of receiving track information for specifying a track of a target operation of a robot, (b) a step of acquiring, according to an instruction to adjust a parameter set for controlling the target operation, about one or more initial parameter sets, values of evaluation indicators of control results obtained when causing the robot to execute the target operation using the respective initial parameter sets, (c) a step of displaying, on a display section, one or more reference displays based on the acquired values of the evaluation indicators, and (d) a step of receiving an input of condition information for deciding a condition of optimization processing for the parameter set, the condition information being condition information about the evaluation indicators, performing the optimization processing for the parameter set according to the condition information, and determining a value of a new parameter set.

Method of supporting adjustment of parameter set of robot, a non-transitory computer-readable storage medium, and information processing device

A method of the present disclosure includes (a) setting a limit value specifying a constraint condition with respect to a specific force control characteristic value detected in force control and an objective function with respect to a specific evaluation item relating to the work, (b) searching for an optimal value of the force control parameter using the objective function, and (c) determining a setting value of the force control parameter according to a result of the searching. The objective function has a form in which a penalty increasing according to an exceedance of the force control characteristic value from an allowable value smaller than the limit value is added to an actual measurement value of the evaluation item.

Method of setting force control parameter in work of robot, robot system, and computer program

An operation parameter adjusting method according to an aspect includes a detecting step for causing a robot to execute a plurality of adjustment operations using candidate values of operation parameters and acquiring detection values of a detecting section, an operation parameter updating step for executing optimization processing for the operation parameters using the acquired detection values to thereby obtain new candidate values of the operation parameters, a repeating step for repeating the operation parameter updating step and the detecting step, and an operation parameter determining step for determining, based on one or more candidate values of the operation parameters obtained by the repeating step, the operation parameter used in the robot system. The detecting step includes a suspension determining step for performing continuation or suspension of the detecting step based on a result of comparison of the acquired detection values of the part of the adjustment operations and a reference value.

Operation parameter adjusting method and operation parameter adjusting device for adjusting operation parameters of robot

An object detecting method includes imaging a plurality of target objects with an imaging section and acquiring a first image, recognizing an object position/posture of one of the plurality of target objects based on the first image, counting the number of successfully recognized object positions/postures of the target object, outputting, based on the object position/posture of the target object, a signal for causing a holding section to hold the target object, calculating, as a task evaluation value, a result about whether the target object was successfully held, updating, based on an evaluation indicator including the number of successfully recognized object positions/postures and the task evaluation value, a model for estimating the evaluation indicator from an imaging position/posture of the imaging section and determining an updated imaging position/posture, acquiring a second image in the updated imaging position/posture, and recognizing the object position/posture of the target object based on the second image.

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Shiojiri, Japan

Jun Toda