Title:
METHOD FOR SETTING FORCE CONTROL PARAMETER IN ROBOT WORK, ROBOT SYSTEM, AND COMPUTER PROGRAM
Document Type and Number:
Japanese Patent JP2023004513
Kind Code:
A
Abstract:
To provide a technique capable of setting a force control parameter to an appropriate value even when there is a variance in sensor outputs.SOLUTION: This method comprises: (a) a step of setting a limit value defining a constraint relating to a specific force control characteristic value detected under force control and an objective function relating to a specific evaluation item associated with work; (b) a step of searching for an optimal value of a force control parameter by using the objective function; (c) and a step of determining a setting value of the force control parameter in accordance with the searching result. The objective function has a format for adding a penalty increased in accordance with an excess amount of the force control characteristic value from a permissible value smaller than the limit value to an actual measured value of the evaluation item.SELECTED DRAWING: Figure 6
Inventors:
MIZOBE KIMII
TODA ATSUSHI
FUKUSEN TAKAHISA
TODA ATSUSHI
FUKUSEN TAKAHISA
Application Number:
JP2021106232A
Publication Date:
January 17, 2023
Filing Date:
June 28, 2021
Export Citation:
Assignee:
SEIKO EPSON CORP
International Classes:
B25J13/08; G05B11/36; G05D15/01
Attorney, Agent or Firm:
Patent Attorney Corporation Meisei International Patent Office