Method of adjusting force control parameter
US11839978B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Oct 15, 2021 |
| Grant date | Dec 12, 2023 |
| Priority date | — |
| Expiry date | Jun 3, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39332
- WIPO fieldHandling
- WIPO sectorMechanical engineering
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.