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US 12,179,362 B2Granted
Autonomous robust assembly planning
AssigneeFanuc Corporation
InventorsYu Zhao, Tetsuaki Kato
Life of this patent
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AssigneeFanuc Corporation
InventorsYu Zhao, Tetsuaki Kato
Estimating the term…
A method for tuning the force control parameters for a general robotic assembly operation. The method uses numerical optimization to evaluate different combinations of the parameters for a robot force controller in a simulation environment that is built based on a real-world robotic setup. This method performs autonomous tuning for assembly tasks based on closed loop force control simulation, where random samples from a distribution of force control parameter values are evaluated, and the optimization routine iteratively redefines the parameter distribution to find optimal values of the parameters. Each simulated assembly is evaluated using multiple simulations including random part positioning uncertainties. The performance of each simulated assembly is evaluated by the average of the simulation results, thus ensuring that the selected control parameters will perform well in most possible conditions. Once the parameters have been optimized, they are applied to real robots to perform the actual assembly operation.
A computer-implemented method for autonomously tuning controller parameters for a controlled operation, said method comprising using a numerical optimization algorithm to optimize values of the controller parameters, wherein a plurality of random samples are selected from a distribution of the controller parameters, and a set of evaluations of the operation is run for each of the samples in the plurality, where each set of evaluations includes a plurality of evaluations each using a different initial operating condition, and where the distribution of the controller parameters is redefined based on a subset of the sets of evaluations having best operational performance until a convergence criteria is met.
A system for performing a controlled operation using a first part and a second part, said system comprising:
Dependencies are inferred from the claim text.