Force control parameter adjustment method and force control parameter adjustment apparatus
US12251840B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Jun 23, 2022 |
| Grant date | Mar 18, 2025 |
| Priority date | — |
| Expiry date | Mar 10, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40032
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method includes a measurement step of producing measured force information of external force by causing a robot to perform an action using second servo gains adjusting force control parameters corresponding to first servo gains when the robot performs a regular task. The measured force information includes an action period of time during which the action is performed, a maximum detected force value of the external force, and a maximum detected torque value of the external force. The method further includes a parameter update step of producing a new candidate value of the force control parameters by carrying out an optimization process on the force control parameters by using the measured force information. The method further includes a parameter determination step of determining the force control parameters used in the force control performed by the robot by repeating the measurement step and the parameter update step.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.