US 12,275,150 B2
Method of setting control parameter of robot, robot system, and computer program
Kimitake Mizobe, Nagaokakyo (JP); Jun Toda, Shiojiri (JP); Shota Morozumi, Shiojiri (JP); and Ryutaro Seki, Shiojiri (JP)
Assigned to SEIKO EPSON CORPORATION, (JP)
Filed by SEIKO EPSON CORPORATION, Tokyo (JP)
Filed on Jul. 1, 2022, as Appl. No. 17/856,196.
Claims priority of application No. 2021-110694 (JP), filed on Jul. 2, 2021.
Prior Publication US 2023/0001578 A1, Jan. 5, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1653 (2013.01) [B25J 9/161 (2013.01); B25J 9/1633 (2013.01); B25J 9/1664 (2013.01)] 3 Claims
OG exemplary drawing
 
1. A method of setting a control parameter of a robot, comprising:
(a) receiving settings of an objective function and a constraint condition used for optimization processing of the control parameter;
(b) controlling the robot to execute work using a candidate value of the control parameter and measuring a performance index value for obtainment of the objective function and a constraint evaluation value relating to the constraint condition during the work;
(c) searching for a next candidate value of the control parameter by executing the optimization processing using a value of the objective function obtained from the performance index value;
(d) obtaining the values of the objective function and the constraint evaluation values with respect to the plurality of candidate values by repeating (b) and (c); and
(e) displaying a processing result containing a correlation chart showing the values of the objective function and the constraint evaluation values with respect to each of the plurality of candidate values;
wherein (e) includes:
(i) receiving a change of the constraint condition; and
(ii) revising the processing result according to the change and redisplaying the revised processing result;
wherein the work includes a plurality of motions, and
the change of the constraint condition is executed with respect to at least one motion selected from the plurality of motions; and
wherein (i) includes:
displaying a graph showing a relationship between a history of the constraint evaluation value and a limit value of the constraint evaluation value with respect to each motion of the plurality of motions and a change operation interface for changing the limit value with respect to each motion; and
receiving the change of the constraint condition with respect to the at least one motion in response to an operation using the change operation interface.