US 12,070,862 B2
Robot system, control method for robot system, and adjustment method for force control parameters in robot system
Yasuhiro Shimodaira, Matsumoto (JP)
Assigned to SEIKO EPSON CORPORATION, (JP)
Filed by Seiko Epson Corporation, Tokyo (JP)
Filed on Nov. 23, 2021, as Appl. No. 17/456,214.
Claims priority of application No. 2020-195934 (JP), filed on Nov. 26, 2020.
Prior Publication US 2022/0161428 A1, May 26, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1633 (2013.01) [B25J 9/1612 (2013.01); B25J 9/1653 (2013.01); B25J 13/082 (2013.01)] 6 Claims
OG exemplary drawing
 
1. An adjustment method for force control parameters used in force control of a robot system,
the robot system including a robot, a force detector provided in the robot and configured to measure an external force, and an end effector provided in the robot and configured to hold a first target object,
the force control being performed based on a measurement value of the external force by the force detector when the robot is caused to execute a following operation,
the following operation being an operation in which at least a part of the first target object held by the end effector is inserted into a void included in a second target object while coming into contact with the second target object or the part is pulled out from the void while coming into contact with the second target object,
the adjustment method comprising:
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, which is a measurement value of the external force in the following operation;
a parameter updating step for performing optimization processing about the force control parameters using the force measurement value and obtaining new candidate values of the force control parameters; and
a parameter determining step for repeating the measuring step and the parameter updating step to thereby determine the force control parameters used in the force control of the robot system and outputting the force control parameters,
wherein the measuring step includes measuring an operation time which is a time required for the following operation, and
the parameter updating step is executed using an algorithm to which the force measurement value and the operation time are input and from which the candidate values of the force control parameters are output.