Method of setting force control parameter in work of robot, robot system, and computer program

A robot system comprising:

• a robot;
• a sensor detecting a specific force control characteristic value in work of the robot by force control;
• a memory configured to store a program;
• and
• a processor configured to execute the program so as to perform:
• (a) processing of setting a limit value specifying a constraint condition with respect to the force control characteristic value and an objective function with respect to a specific evaluation item relating to the work;
• (b) processing of searching for an optimal value of the force control parameter using the objective function;
• and
• (c) processing of determining a setting value of the force control parameter according to a result of the searching, wherein
• the objective function has a form in which a penalty increasing according to an exceedance of the force control characteristic value from an allowable value smaller than the limit value is added to an actual measurement value of the evaluation item, and
• when the force control characteristic value is larger than the limit value, the penalty of the objective function contains a first penalty component obtained by multiplication of the exceedance of the force control characteristic value from the allowable value by a first increase rate and a second penalty component obtained by multiplication of an exceedance of the force control characteristic value from the limit value by a second increase rate.

A non-transitory computer-readable storage medium storing a computer program controlling a processor to execute processing of setting a force control parameter in work of a robot controlling the processor to execute:

• (a) processing of setting a limit value specifying a constraint condition with respect to a specific force control characteristic value detected in force control and an objective function with respect to a specific evaluation item relating to the work;
• (b) processing of searching for an optimal value of the force control parameter using the objective function;
• and
• (c) processing of determining a setting value of the force control parameter according to a result of the searching, wherein
• the objective function has a form in which a penalty increasing according to an exceedance of the force control characteristic value from an allowable value smaller than the limit value is added to an actual measurement value of the evaluation item, and
• when the force control characteristic value is larger than the limit value, the penalty of the objective function contains a first penalty component obtained by multiplication of the exceedance of the force control characteristic value from the allowable value by a first increase rate and a second penalty component obtained by multiplication of an exceedance of the force control characteristic value from the limit value by a second increase rate.