Patent ID: 9156164
Filing Date: 2015-10-13
Classification: B25J,G05B

Abstract:
1. A method for adjusting parameters of impedance control, comprising: calculating initial values of an inertia parameter and a viscosity parameter which are set at a time of parameter adjustment; setting an overshoot amount allowable value as an allowable maximum value of an overshoot amount of a time response of a force feedback from a force sensor provided for an end effector of a robot manipulator, and a setting time allowable value as an allowable maximum value of a setting time of the time response of the force feedback; calculating a viscosity parameter with which the setting time is shortest while fixing the inertia parameter; comparing an overshoot amount adjustment value and a setting time adjustment value which are obtained from a result of the calculating of the viscosity parameter with the overshoot amount allowable value and the setting time allowable value, respectively, to determine whether a repeating process is finished or continued; and adjusting, if it is determined that the repeating process is continued, the inertia parameter or one of the overshoot amount allowable value and the setting time allowable value to re-execute the calculating of the viscosity parameter, the adjusting of the inertia parameter or one of the overshoot amount allowable value and the setting time allowable value including changing the inertia parameter or lessening at least one of the overshoot amount allowable value and the setting time allowable value, wherein the calculating of the viscosity parameter includes