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    • 1. 发明申请
    • Method Of Adjusting Action Parameter
    • US20230071104A1
    • 2023-03-09
    • US17938989
    • 2022-09-07
    • SEIKO EPSON CORPORATION
    • Takahisa FUKUSENKimitake MIZOBEJun TODA
    • B25J9/16
    • A method of adjusting an action parameter includes a positional posture determination step of making a robot execute a task a plurality of times in a plurality of positional postures different in positional posture of an object when starting the task to obtain evaluation values of the respective tasks, comparing the evaluation values of the tasks out of the evaluation values of the respective tasks with a reference evaluation value, and determining an evaluation positional posture from the positional postures in the tasks in which the evaluation value is no higher than the reference evaluation value, an updating step of making the robot operate with a tentative action parameter using the evaluation positional posture as a starting positional posture in the task to measure a time taken for the task or a vibration of the robot, and updating the tentative action parameter based on a measurement result, and a determination step of repeatedly performing the updating step until the time taken for the task or the vibration of the robot measured is converged to determine latest one of the tentative action parameters as an action parameter when actually performing the task.