Apparatus and method for adjusting parameter of impedance control

An apparatus for adjusting an inertia parameter and a viscosity parameter of an impedance controller based on information of a force sensor provided for an end effector of a robot manipulator, the apparatus comprising:

• a controller configured to be electrically connected to the force sensor and the robot manipulator, the controller being programmed to provide:
• a parameter initial value calculator configured to calculate initial values of the inertia parameter and the viscosity parameter which are set at a time of parameter adjustment;
• a force reference impression device to repeatedly supply a stepwise force reference to the impedance controller to repeatedly press a workpiece held by the end effector against a target workpiece;
• an evaluation data measurement device configured to record a time response of a force feedback from the force sensor each time the workpiece is pressed and configured to automatically measure a setting time of the time response of the force feedback, an overshoot amount of the time response of the force feedback, and a number of vibration times of the time response of the force feedback;
• an allowable value setting device configured to set an overshoot amount allowable value as a maximum value of an allowable overshoot amount and a setting time allowable value as a maximum value of an allowable setting time;
• a viscosity parameter calculator configured to calculate the viscosity parameter with which the setting time is shortest;
• an end determining device configured to determine whether a calculating process of the viscosity parameter calculator is finished or continued by respectively comparing the setting time and the overshoot amount which are obtained from the evaluation data measurement device with the setting time allowable value and the overshoot amount allowable value;
• and
• an inertia parameter calculator configured, in the case where the end determining device determines that the calculating process is continued, to change the inertia parameter or to lessen at least one of the overshoot amount allowable value and the setting time allowable value, the viscosity parameter calculator being configured to calculate the viscosity parameter with which the setting time is shortest by executing a repetitive pressing of the force reference impression device in a state where the inertia parameter is fixed, the viscosity parameter calculator being configured to recalculate the viscosity parameter after the inertia parameter calculator changes the inertia parameter or lessens at least one of the overshoot amount allowable value and the setting time allowable value.