The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 12, 2023
Filed:
Oct. 15, 2021
Seiko Epson Corporation, Tokyo, JP;
Yasuhiro Shimodaira, Matsumoto, JP;
Abstract
A method of adjusting a force control parameter includes a first step of moving a robot arm based on first information on work start position and orientation of the robot arm and a candidate value of a force control parameter, and acquiring second information on a working time taken for the work and third information on a force applied to the robot arm during the work, and a second step of acquiring an updated value obtained by updating of the candidate value of the force control parameter based on the acquired second information and third information, wherein the first step and the second step are repeatedly performed with noise added to the first information until the acquired working time or force applied to the robot arm converges, and a final value of the force control parameter is obtained.