Force control parameter setup support method and force control parameter setup support system
AssigneeSeiko Epson Corporation
InventorYuma Shimura
Life of this patent
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Abstract
A force control parameter setup support method of supporting a setup of a force control parameter to be used for force control when controlling a robot arm a tip of which is attached with a polishing tool using the force control to perform a polishing task on an object including a first step of obtaining task information related to the polishing task, a second step of selectively reading out information of the force control parameter corresponding to the task information obtained in the first step from a storage section in which a plurality of pieces of information of the force control parameter is stored, and a third step of displaying the information of the force control parameter read out in the second step on a display section.
Claims6
A force control parameter setup support method for causing a processor to execute a process, the force control parameter setup support method comprising executing on the processor the steps of:
- obtaining task information related to a polishing task of a robot from a memory, the robot having a robot arm and performing the polishing task on an object using a polishing tool attached to a tip of the robot arm with force control, the task information including:
- object information that is at least one of a shape of a polishing area of the object, a dimension of the polishing area, a material of the polishing area, a non-polishing surface roughness of the polishing area on which the polishing task is not performed, and a target surface roughness of the polishing area on which the polishing task is performed;
- and
- polishing tool information that is at least one of a material of an abrasive grain of the polishing tool, a size of the abrasive grain, and a rotational speed of the polishing tool;
- selectively reading out parameter information of a plurality of force control parameters for the force control corresponding to the task information, each of the object information and the polishing tool information corresponding to only one force control parameter of the plurality of force control parameters;
- displaying the parameter information;
- and
- causing the robot to perform the polishing task on the object with the force control based on the parameter information.
A force control parameter setup support system comprising:
- a memory configured to store a program;
- a processor configured to execute the program so as to:
- obtain task information related to a polishing task of a robot from a memory, the robot having a robot arm and performing the polishing task on an object using a polishing tool attached to a tip of the robot arm with force control, the task information including:
- object information that is at least one of a shape of a polishing area of the object, a dimension of the polishing area, a material of the polishing area, a non-polishing surface roughness of the polishing area on which the polishing task is not performed, and a target surface roughness of the polishing area on which the polishing task is performed;
- and
- polishing tool information that is at least one of a material of an abrasive grain of the polishing tool, a size of the abrasive grain, and a rotational speed of the polishing tool;
- selectively read out parameter information of a plurality of force control parameters for the force control corresponding to the task information, each of the object information and the polishing tool information corresponding to only one force control parameter of the plurality of force control parameters;
- display the parameter information;
- and
- cause the robot to perform the polishing task on the object with the force control based on the parameter information.
Dependencies are inferred from the claim text.