Robot system, control method thereof, and adjustment method of force control parameter
A robot system, a technology for controlling parameters, applied in the field of robot systems, which can solve the problem of inability to insert parts into holes, etc.
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[0030] A1. The structure of the robot system:
[0031] figure 1 It is a perspective view showing the robot system 1 in the embodiment. The robot system 1 includes a camera 30 , a robot 100 , a force detector 130 , an end effector 140 , a robot control device 200 , and a setting device 600 . The robot 100, the robot control device 200, and the setting device 600 can be communicably connected via a cable or wirelessly.
[0032] The robot 100 is a single-arm robot used by attaching various end effectors to the arm flange 120 at the tip of the robot arm 110 . The robot arm 110 has six joints J1 to J6. Joints J2, J3, and J5 are bending joints, and joints J1, J4, and J6 are twisting joints. Various end effectors for grasping and processing an object are attached to the arm flange 120 located at the distal end of the joint J6. In this specification, the object to be handled by the robot 100 is referred to as a "workpiece".
[0033]The position near the tip of the robot arm 110 ...
Embodiment approach 1
[0155] (1) In the above-described embodiment, the end effector 140 can hold the workpiece WK1. However, as shown in another application example 1, the end effector 140 may be in a form capable of holding the first object via other structures (see Figure 15 ).
[0156] (2) In the above-described embodiment, the time-series change in the target force has been described (see Figure 13 and Figure 14 ). Discrimination of the position of the time series change of the target force can be determined individually on the x-axis, y-axis, and z-axis, or can be determined collectively on the x-axis, y-axis, and z-axis.
[0157] (3) In the above-described embodiment, the time-series change in the target force has been described (see Figure 13 and Figure 14 ). However, for example, parameters other than the target force, such as the impedance parameter, may be changed with the position of the control point (see Image 6 the upper right part of and image 3 the lower part). Howe...
Embodiment approach 2
[0164] (1) In the above-described embodiment, the algorithm using the input force measurement value and the action time and the candidate value of the output force control parameter (refer to Image 6 ). However, the input to the algorithm may be only one of the force measurement value and the action time. In addition, the input to the algorithm may be other evaluation values such as life or maximum torque ratio. In such a manner, the input evaluation value is optimized, and the candidate value of the force control parameter which brings about a preferable result with respect to the input evaluation value is determined.
[0165] (2) In the above-mentioned embodiment, the algorithm using the input force measurement value and the action time (see Image 6 ). However, the optimization algorithm may be a system in which three or more evaluation values are input. In the method of inputting a plurality of evaluation values in the optimization algorithm, by appropriately we...
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