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    Force Control Parameter Adjustment Method And Force Control Parameter Adjustment Apparatus
    13.
    发明申请
    Force Control Parameter Adjustment Method And Force Control Parameter Adjustment Apparatus 有权

    公开(公告)号：US20220410384A1

    公开(公告)日：2022-12-29

    申请号：US17847561

    申请日：2022-06-23

    Applicant: SEIKO EPSON CORPORATION

    Inventor： Yasuhiro SHIMODAIRA

    IPC: B25J9/16 ,  B25J13/08

    Abstract: One or more force control parameters used in force control is adjusted. A robot system includes a robot, a force detector configured to measure an external force exerted on the robot, and a control section that causes the robot to perform an action through feedback control. A measured force value that is a measured value of the external force is produced by causing the robot to perform an action using one or more second servo gains corresponding to one or more first servo gains used when the robot system is caused to perform an actual task, the second servo gains each having a value greater than the value of the corresponding first servo gain, and further using a candidate value of the force control parameters. A new candidate value of the force control parameters is produced by carrying out an optimization process on the force control parameters by using the measured force value. A parameter determination step of determining the force control parameters by repeating a measurement step and a parameter update step is provided.

    Method Of Adjusting Force Control Parameter
    14.
    发明申请
    Method Of Adjusting Force Control Parameter 有权

    公开(公告)号：US20220118610A1

    公开(公告)日：2022-04-21

    申请号：US17502106

    申请日：2021-10-15

    Applicant: Seiko Epson Corporation

    Inventor： Yasuhiro SHIMODAIRA

    IPC: B25J9/16 ,  B25J13/08

    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.

    Method Of Adjusting Force Control Parameter, Robot System, And Force Control Parameter Adjustment Program
    15.
    发明申请
    Method Of Adjusting Force Control Parameter, Robot System, And Force Control Parameter Adjustment Program 有权

    公开(公告)号：US20220080587A1

    公开(公告)日：2022-03-17

    申请号：US17472779

    申请日：2021-09-13

    Applicant: Seiko Epson Corporation

    Inventor： Yasuhiro SHIMODAIRA

    IPC: B25J9/16 ,  G05B19/4155

    Abstract: A first step of executing a first operation to bring a hand placed on a robot arm or a first object held by the hand into contact with a second object based on a first force control parameter, a second step of acquiring information of an external force applied to the robot arm by executing a second operation different from the first operation on a robot with the hand or the first object in contact with the second object, a third step of acquiring information of external rigidity based on the acquired external force information, and a fourth step of changing the force control parameter from the first force control parameter to a second force control parameter acquired based on the acquired external rigidity information and a position of a control point corresponding to the acquired external rigidity information are provided.

    Control Apparatus, Robot, And Robot System
    16.
    发明申请
    Control Apparatus, Robot, And Robot System 审中-公开

    公开(公告)号：US20190329423A1

    公开(公告)日：2019-10-31

    申请号：US16394593

    申请日：2019-04-25

    Applicant: Seiko Epson Corporation

    Inventor： Yasuhiro SHIMODAIRA

    IPC: B25J13/06 ,  B25J9/16

    Abstract: A robot system includes: a robot having a robot arm; a robot controller configured to move the robot arm based on a motion program stored in a memory; a display screen; and a display controller configured to generate and display a constant velocity area of a control point path for the robot arm. The motion program instructs the robot controller to move a control point on the robot arm along the control point path. The display controller being configured to display the constant velocity area by generating a path display image depicting the control point path, displaying the path display image on a display screen, and superimposing a constant velocity area on the path display image.

    ROBOT SYSTEM, CONTROL METHOD FOR ROBOT SYSTEM, AND ADJUSTMENT METHOD FOR FORCE CONTROL PARAMETERS IN ROBOT SYSTEM
    18.
    发明申请
    ROBOT SYSTEM, CONTROL METHOD FOR ROBOT SYSTEM, AND ADJUSTMENT METHOD FOR FORCE CONTROL PARAMETERS IN ROBOT SYSTEM 有权

    公开(公告)号：US20220161428A1

    公开(公告)日：2022-05-26

    申请号：US17456214

    申请日：2021-11-23

    Applicant: Seiko Epson Corporation

    Inventor： Yasuhiro SHIMODAIRA

    IPC: B25J9/16 ,  B25J13/08

    Abstract: A robot system includes a robot, a force detector, and an end effector. When the robot is caused to execute a following operation, force control is performed based on a measurement value by the force detector. The following operation is an operation in which a first target object held by the end effector is inserted into a void included in a second target object or pulled out from the void while coming into contact with the second target. The adjustment method includes a measuring step for causing the robot to perform the following operation using candidate values of the force control parameters including a target force in a direction orthogonal to a direction of the insertion or the pull-out and obtaining a force measurement value, a parameter updating step for performing optimization processing using the force measurement value and obtaining new candidate values of the force control parameters, and a step of repeating the measuring step and the parameter updating step to determine force control parameters and outputting the force control parameters.

    ROBOT CONTROL DEVICE, ROBOT SYSTEM, AND SIMULATION DEVICE
    19.
    发明申请
    ROBOT CONTROL DEVICE, ROBOT SYSTEM, AND SIMULATION DEVICE 审中-公开

    公开(公告)号：US20190022864A1

    公开(公告)日：2019-01-24

    申请号：US16041972

    申请日：2018-07-23

    Applicant: Seiko Epson Corporation

    Inventor： Yasuhiro SHIMODAIRA

    IPC: B25J9/16 ,  B25J13/08

    Abstract: A robot control device includes a processor that is configured to execute computer-executable instructions so as to control a robot including a robot arm, an end effector detachably attached to the robot arm and configured to hold an object, and a force detecting device. the processor is configured to: calculate, on the basis of position and posture information of a first point of the robot arm and relative position and posture information of a second point of the object with respect to the first point, position and posture information of the second point when the robot operates; and cause a memory to store the position and posture information of the second point.

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