Seiko Epson Corporation

Kimitake Mizobe

Jun Toda

Ryutaro Seki

Hirokazu Kasahara

Takahisa Fukusen

Hideto Ishiguro

Kazuhiro Nishida

Tsukasa Eguchi

Iwane Ikeda

Atsushi Toyofuku

Takashi Hyuga

Hiroyuki Masuda

Kenji Murakami

Taro Tanaka

Natsumi Mano

Shota Morozumi

Shunsuke Amo

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 adjusting a motion parameter includes a first information acquisition step of acquiring first information on a motion condition of a robot arm when a first motion parameter is set and the robot arm is controlled to perform a motion, a third information acquisition step of inputting the first information and second information on attributes of the robot to a vibration estimation model and acquiring output third information, and a second motion parameter acquisition step of acquiring a second motion parameter that shortens a working time using the first information, the second information, and the third information. The steps are repeatedly executed using the acquired second motion parameter as the first motion parameter and a target work motion parameter is acquired.

Method of adjusting motion parameter, storage medium, and robot system

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 overshoot amount detection method includes a first step of generating a first signal from a first detection signal output from an inertial sensor that detects inertia in a working unit of an arm to be displaced, a second step of generating a second signal using a second detection signal output from an encoder that detects an amount of displacement of the arm, and a third step of detecting an overshoot amount of the arm based on a third signal obtained by synthesis of the first signal and the second signal. The first step includes twice integration of the first detection signal and removing a low-frequency component contained in the first detection signal.

Overshoot amount detection method, overshoot amount detection system, robot system, and overshoot amount adjustment method

A determination device that determines quality of target portion based on sensor data obtained by a sensor measuring the target object, includes one or more processors configured to acquire sensor data representing the target portion, acquire information indicating a changed portion, determine whether the target portion includes the changed portion based on acquired information, determine a first label of the target portion represented in the sensor data by using a determination model learned from a training dataset based on training target portions, the first label representing target portion as one of good, defect, and a defect candidate, accept a second label of the target portion input via a user interface when the target portion includes the changed portion or when the first label of the target portion is determined as the defect candidate, and perform quality determination of the target portion based on the first label and/or the second label.

Determination device and determining method thereof

In a biological information acquiring device, a sensor modulecaptures a biological image of a subject. A touch panelhas a display region Aformed with approximately the same size as a measurement region Athat matches the range of image capturing of the subjectby the sensor module, and in the display region Aa biological image is displayed at approximately the same magnification as the range of image capturing. The image capturing direction of the sensor moduleand the display direction of the touch panelare in opposite directions, and the measurement region Aand the display region Aare arranged in layers at about the same position in a plan view. Accordingly, a target location suitable for acquiring the biological information can be easily specified.

Biological information acquiring device

In a biological information processing apparatus, a body motion detection unit detects a body motion of a subject. A measurement method selection unit selects one measurement method on the basis of a detection result from the body motion detection unit, from among a plurality of measurement methods of measuring a blood glucose level by applying irradiation waves toward a living body of the subject. A measurement result display control unit performs control for displaying a measurement result which is obtained by performing a measurement according to the one measurement method.

Biological information processing apparatus, and biological information processing method

In a blood sugar level measuring device, a blood-sugar-level predicting unit predicts a blood sugar level of a user. A light emitting unit irradiates measurement light to the inside of a living organism of the user. A light-emission control unit, a measurement-point-candidate setting unit, a light-amount-control-method determining unit, and a measurement-point selecting unit control a light amount of measurement light per one measurement on the basis of the predicted blood sugar level. A light-reception control unit, a light-absorption-spectrum generating unit, and a blood-sugar-value calculating unit receive reflected light from the user and measure a blood sugar level.

Blood sugar level measuring device and blood sugar level measuring method

A printing system that transfers an image composed of pixels of a first resolution, includes a client and a printing apparatus. The client includes a determining unit that, for a pixel block that is of a size of a pixel of a second resolution that is lower than the first resolution, determines whether or not the pixel block is homogenous on the basis of a difference in color information for a target pixel of the first resolution included in the pixel block; an image-data-for-transfer creating unit that creates image data for transfer by changing pixels of the first resolution included in a pixel block that has been determined to be homogenous from the first resolution to the second resolution; and a transmitting unit that transmits the image data for transfer. The printing apparatus includes a receiving unit that receives the image data for transfer and a high-resolution-image-data creating unit that creates image data representing an image composed of pixels of the first resolution by changing pixels of the second resolution in the image data for transfer from the second resolution to the first resolution.

Printing system, printing apparatus and image-printing method for suppressing image quality degradation

The device employs a plurality of coefficients recorded in image data to detect whether edges are included per block, and determines as the blur level the proportion of edges, among the detected edges, in which the edge width is over a certain threshold. The device also determines, per block, coordinates composed of a first coefficient value representing frequency components in a first direction in the blocks and a second coefficient value representing frequency components in a second direction perpendicular to the first direction, and calculates the extent of bias in the distribution of the coordinates as the ellipticity. The device determines whether or not blurring has been produced by camera shake in an image based on the relationship between the blur level and ellipticity which have thus been determined.

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Chino, Japan

Kimitake Mizobe