Seiko Epson Corporation

Ryutaro Seki

Kimitake Mizobe

Jun Toda

Atsushi Toyofuku

Takahisa Fukusen

Tomonori Mano

Shota Morozumi

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

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 synchronization step of synchronizing a signal of an inertial sensor with a signal of an encoder based on a first synchronizing signal output from the inertial sensor during a signal synchronizing operation and a second synchronizing signal output from the encoder during the signal synchronizing operation, a signal generation step of generating a first signal by twice integration of a first detection signal output from the inertial sensor during a working operation and removal of a low-frequency component contained in the first detection signal and generating a second signal for supplement of the low-frequency component of the first signal from a second detection signal output from the encoder during the working operation, and an overshoot amount detection step of detecting an overshoot amount of an arm based on the first signal and the second signal.

Overshoot amount detection method and robot system

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.

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Suwa, Japan

Ryutaro Seki