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Method for supporting adjustment of parameter set of robot and information processing apparatus

An information processing device and parameter set technology, applied in the direction of instruments, manipulators, program-controlled manipulators, etc., can solve problems such as the inability to achieve numerical values

Active Publication Date: 2022-05-13
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, if the user is asked to pre-specify values ​​for trajectory accuracy, it is possible to specify values ​​that cannot be achieved
In such a case, the adjustment parameters cannot be obtained through the optimization process

Method used

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  • Method for supporting adjustment of parameter set of robot and information processing apparatus
  • Method for supporting adjustment of parameter set of robot and information processing apparatus
  • Method for supporting adjustment of parameter set of robot and information processing apparatus

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0028] A1. Composition of the robot system:

[0029] figure 1 It is an explanatory diagram showing a robot system according to an embodiment of the present disclosure. A robot system as an embodiment of the present disclosure includes robots 1 to 3 , a control device 40 , and a setting device 600 .

[0030] The control device 40 controls the robots 1 to 3 . The control device 40 is communicably connected to the robots 1 to 3 by cables. The control device 40 includes a CPU as a processor, a RAM, and a ROM. RAM includes main memory and auxiliary storage. The CPU of the control device 40 operates the robot by loading and executing the computer program stored in the auxiliary storage device into the main memory.

[0031] The setting device 600 generates an operation program that defines the operation of the robots 1 to 3, and sets parameters of the operation program. The setting device 600 is communicably connected to the control device 40 via a cable. The operating program...

Embodiment approach 2

[0187] In the second embodiment, Figure 7 The specific processing in steps S203, S207, S209, and S210 is different from that in the first embodiment. Other aspects of the second embodiment are the same as those of the first embodiment.

[0188] In the second embodiment, also in Figure 7 In step S203 of step S203 , in response to the instruction of adjusting the parameter set, the values ​​of various indicators when the robot 3 is made to perform the target action using the initial parameter 630d are obtained. However, with respect to the robot program 630c and the three sets of initial parameter sets 44p1 to 44p3 prepared in advance, values ​​of various indexes when the robot 3 is operated using each of the initial parameter sets 44p1 to 44p3 are acquired.

[0189] Specifically, in the second embodiment, the operation of the robot 3 is performed using the high-speed parameter 630e of the initial parameter 630d, the standard parameter 630f, and the high-precision parameter ...

Embodiment approach 3

[0204] In the third embodiment, Figure 7 The specific processing in steps S207, S209, and S210 is different from that in the second embodiment. Other aspects of the third embodiment are the same as those of the second embodiment.

[0205] Figure 15 It is a diagram showing the user interface screen I207c displayed on the display 602 of the setting device 600 in step S207 of the third embodiment. The user interface screen I207c is a user interface screen for receiving condition information. The user interface screen I207c includes reference displays R77, R78, input windows D71, D72, and buttons B77, B78, B81, B82.

[0206] The buttons B77 and B78 are buttons for selecting an index for specifying condition information from the operating time as the first index and the overshoot amount as the second index. The user selects the button B77 when desiring to designate the constraint value of the search as the condition information in terms of operation time. When the button B77...

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Abstract

The invention relates to a method for supporting adjustment of a parameter set of a robot and an information processing apparatus. The method supports parameter setting of a user having no experience of parameter setting of the robot and parameter setting of the robot operating in a new environment. The method includes: a step (a) of receiving trajectory information defining a trajectory of a target motion of a robot; (b) a step for acquiring, in response to an instruction to adjust a parameter set for controlling the target operation, a value of an evaluation index for a control result when the robot is caused to execute the target operation using each of the initial parameter sets with respect to the one or more initial parameter sets; (c) a step for displaying, on a display unit, one or more reference displays based on the acquired value of the evaluation index; and a step (d) for receiving an input of condition information relating to the evaluation index that specifies conditions for optimization processing of the parameter set, performing optimization processing of the parameter set in accordance with the condition information, and determining a new value of the parameter set.

Description

technical field [0001] The present disclosure relates to a method, a program, and an information processing device that support adjustment of a parameter set of a robot. Background technique [0002] Conventionally, there is a technique for setting control parameters of a robot. In the technique of Patent Document 1, the server computer derives a plurality of adjustment parameters according to optimization purposes such as "prioritizing operation time reduction", "prioritizing trajectory accuracy", and "prioritizing energy consumption minimization". The effect of optimization is calculated for each of the calculated adjustment parameters. For example, when "shortening the operating time is prioritized" is selected as the object of optimization, the reduction rate of the operating time is calculated, and when "energy consumption minimization is prioritized" is selected, the reduction rate of the energy consumption is calculated. The operator confirms the effect of these opt...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/161B25J9/1653B25J9/1664G05B2219/39412B25J9/1689B25J9/163
Inventor 沟部公威关竜太郎豊福笃户田淳
Owner SEIKO EPSON CORP