Robot system, control method for robot system, and adjustment method for force control parameters in robot system
US12070862B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Nov 23, 2021 |
| Grant date | Aug 27, 2024 |
| Priority date | — |
| Expiry date | Apr 14, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40032
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robot system includes a robot, a force detector, and an end effector. When the robot is caused to execute a following operation, force control is performed based on a measurement value by the force detector. The following operation is an operation in which a first target object held by the end effector is inserted into a void included in a second target object or pulled out from the void while coming into contact with the second target. The adjustment method includes 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, a parameter updating step for performing optimization processing using the force measurement value and obtaining new candidate values of the force control parameters, and a step of repeating the measuring step and the parameter updating step to determine force control parameters and outputting the force control parameters.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.