Seiko Epson Corporation

Takahisa Fukusen

Kimitake Mizobe

Jun Toda

Ryutaro Seki

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) 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

A method of setting a target force upper limit for a robot gripping an object with a gripping unit and operating by force control to bring an acting force close to a target force, includes gripping the object with the gripping unit, performing a pressing operation to press the object gripped by the gripping unit against a contact surface by the force control, performing a pressing force acquisition operation to acquire the force acting on the gripping unit during the pressing operation as a pressing force, repeating a setting change operation to increase the target force, the pressing operation, and the pressing force acquisition operation until a state in which the pressing force is not equal to or larger than the target force appears, and setting a target force upper limit based on the pressing force acquired in the pressing force acquisition operation at a time when the state appears.

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Matsumoto, Japan

Takahisa Fukusen