Robot control device, robot control parameter adjustment method, and non-transitory storage medium storing program

A computer-implemented method for a robot control parameter adjustment, the method comprising:

• acquiring operation data of an actual trajectory of a robot arm, which has been operated by making a target portion of the robot arm follow a predefined target path under a feedback control;
• calculating a trajectory when making the target portion follow the predefined target path in a case of performing a first simulation using a first physical parameter in the feedback control;
• adjusting the first physical parameter so as to reduce an error between the trajectory and the actual trajectory based on the acquired operation data, and reduce a following error between the predefined target path and positions of the target portion;
• calculating an initial identified value of a second physical parameter to be used for a feed-forward control, adding in the feedback control using the adjusted first physical parameter;
• and
• repeatedly performing a second simulation of the feedback control adding the feed-forward control, and adjusting the second physical parameter using the adjusted first physical parameter and the initial identified value of the second physical parameter.

A non-transitory computer readable storage medium that stores a computer executable program, when executed by a computer, to cause the computer to perform a computer-implemented method for a robot control parameter adjustment, the method comprising:

• acquiring operation data of an actual trajectory of a robot arm, which has been operated by making a target portion of the robot arm follow a predefined target path under a feedback control;
• calculating a trajectory when making the target portion follow the predefined target path in a case of performing a first simulation using a first physical parameter in the feedback control;
• adjusting the first physical parameter so as to reduce an error between the trajectory and the actual trajectory based on the acquired operation data, and reduce a following error between the predefined target path and positions of the target portion;
• calculating an initial identified value of a second physical parameter to be used for a feed-forward control, adding in the feedback control using the adjusted first physical parameter;
• and
• repeatedly performing a second simulation of the feedback control adding the feed-forward control, and adjusting the second physical parameter using the adjusted first physical parameter and the initial identified value of the second physical parameter.