Method of adjusting force control parameter, robot system, and force control parameter adjustment program
US12109702B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Sep 13, 2021 |
| Grant date | Oct 8, 2024 |
| Priority date | — |
| Expiry date | Jun 3, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40269
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A first step of executing a first operation to bring a hand placed on a robot arm or a first object held by the hand into contact with a second object based on a first force control parameter, a second step of acquiring information of an external force applied to the robot arm by executing a second operation different from the first operation on a robot with the hand or the first object in contact with the second object, a third step of acquiring information of external rigidity based on the acquired external force information, and a fourth step of changing the force control parameter from the first force control parameter to a second force control parameter acquired based on the acquired external rigidity information and a position of a control point corresponding to the acquired external rigidity information are provided.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.