US 12,240,116 B2
Method of adjusting motion parameter, storage medium, and robot system
Shunsuke Amo, Shiojiri (JP); and Kimitake Mizobe, Chino (JP)
Assigned to SEIKO EPSON CORPORATION, (JP)
Filed by Seiko Epson Corporation, Tokyo (JP)
Filed on Jan. 31, 2022, as Appl. No. 17/588,622.
Claims priority of application No. 2021-014204 (JP), filed on Feb. 1, 2021.
Prior Publication US 2022/0241961 A1, Aug. 4, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 9/04 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 9/042 (2013.01); B25J 9/1633 (2013.01); B25J 9/1651 (2013.01); B25J 9/1664 (2013.01); B25J 13/085 (2013.01); B25J 13/088 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A method of adjusting a motion parameter of a motion executed by a robot having a robot arm, comprising:
a first information acquisition step of acquiring first information on a motion condition of the robot arm when a first motion parameter is set and the robot arm is controlled to perform the motion by a motor;
a third information acquisition step of, to a vibration estimation model to which the first information and second information on attributes of the robot are input and from which third information on a vibration estimate value of the robot arm is output, inputting the first information and the second information, and acquiring the output third information; and
a second motion parameter acquisition step of acquiring a second motion parameter that shortens a working time using the first information, the second information, and the third information, wherein
the first information acquisition step, the third information acquisition step, and the second motion parameter acquisition step are repeatedly executed using the acquired second motion parameter as the first motion parameter and a target work motion parameter is acquired,
each of the first, second, and target work motion parameters includes a velocity of the robot arm, an acceleration of the robot arm, a route of the robot arm, a force applied to the robot arm, and a position gain or a velocity gain of the motor,
the first information includes information on a working time, information on a position and an attitude of the robot arm, information on the velocity the robot arm, information on the acceleration of the robot arm, and work condition including a weight of a workpiece held by the robot arm and the force applied to the robot arm,
the second information includes information on attributes of the robot including a model number and a serial number, and
the third information includes information on the vibration estimate value, and the vibration estimate value includes a maximum amplitude of a vibration applied to the robot arm, an average amplitude of the vibration robot arm, a settling time after the robot arm stops until the vibration is settled, and time-series data of the vibration.