US 11,839,978 B2
Method of adjusting force control parameter
Yasuhiro Shimodaira, Matsumoto (JP)
Assigned to SEIKO EPSON CORPORATION
Filed by Seiko Epson Corporation, Tokyo (JP)
Filed on Oct. 15, 2021, as Appl. No. 17/502,106.
Claims priority of application No. 2020-174483 (JP), filed on Oct. 16, 2020.
Prior Publication US 2022/0118610 A1, Apr. 21, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 9/1687 (2013.01); B25J 13/085 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A method of adjusting a force control parameter of a robot having a robot arm driven by force control and performing work, comprising:
a first step of moving the robot arm based on first information on work start position and orientation of the robot arm and a candidate value of the 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.