Abstract: A method of the present disclosure includes (a) a step of receiving track information for specifying a track of a target operation of a robot, (b) a step of acquiring, according to an instruction to adjust a parameter set for controlling the target operation, about one or more initial parameter sets, values of evaluation indicators of control results obtained when causing the robot to execute the target operation using the respective initial parameter sets, (c) a step of displaying, on a display section, one or more reference displays based on the acquired values of the evaluation indicators, and (d) a step of receiving an input of condition information for deciding a condition of optimization processing for the parameter set, the condition information being condition information about the evaluation indicators, performing the optimization processing for the parameter set according to the condition information, and determining a value of a new parameter set.

Abstract: A method of the present disclosure includes (a) 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) searching for an optimal value of the force control parameter using the objective function, and (c) determining a setting value of the force control parameter according to a result of the searching. 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.

Abstract: An operation parameter adjusting method according to an aspect includes a detecting step for causing a robot to execute a plurality of adjustment operations using candidate values of operation parameters and acquiring detection values of a detecting section, an operation parameter updating step for executing optimization processing for the operation parameters using the acquired detection values to thereby obtain new candidate values of the operation parameters, a repeating step for repeating the operation parameter updating step and the detecting step, and an operation parameter determining step for determining, based on one or more candidate values of the operation parameters obtained by the repeating step, the operation parameter used in the robot system. The detecting step includes a suspension determining step for performing continuation or suspension of the detecting step based on a result of comparison of the acquired detection values of the part of the adjustment operations and a reference value.

Abstract: 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 vi

Abstract: An operation parameter adjusting method according to an aspect includes a detecting step for causing a robot to execute a plurality of adjustment operations using candidate values of operation parameters and acquiring detection values of a detecting section, an operation parameter updating step for executing optimization processing for the operation parameters using the acquired detection values to thereby obtain new candidate values of the operation parameters, a repeating step for repeating the operation parameter updating step and the detecting step, and an operation parameter determining step for determining, based on one or more candidate values of the operation parameters obtained by the repeating step, the operation parameter used in the robot system. The detecting step includes a suspension determining step for performing continuation or suspension of the detecting step based on a result of comparison of the acquired detection values of the part of the adjustment operations and a reference value.

Abstract: A method of the present disclosure includes (a) receiving settings of an objective function and a constraint condition, (b) controlling a robot to execute work using a candidate value of a control parameter and measuring a performance index value for the objective function and a constraint evaluation value, (c) searching for a next candidate value of the control parameter by executing optimization processing using a value of the objective function, (d) obtaining the values of the objective function and the constraint evaluation values with respect to the plurality of candidate values by repeating (b) and (c), and (e) displaying a processing result containing a correlation chart showing the values of the objective function and the constraint evaluation values with respect to each of the plurality of candidate values.

Abstract: A method of the present disclosure includes (a) 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) searching for an optimal value of the force control parameter using the objective function, and (c) determining a setting value of the force control parameter according to a result of the searching. 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.

Abstract: An overshoot amount detection method includes a first step of generating a first signal from a first detection signal output from an inertial sensor that detects inertia in a working unit of an arm to be displaced, a second step of generating a second signal using a second detection signal output from an encoder that detects an amount of displacement of the arm, and a third step of detecting an overshoot amount of the arm based on a third signal obtained by synthesis of the first signal and the second signal. The first step includes twice integration of the first detection signal and removing a low-frequency component contained in the first detection signal.

Abstract: A method of adjusting a motion parameter includes a first information acquisition step of acquiring first information on a motion condition of a robot arm when a first motion parameter is set and the robot arm is controlled to perform a motion, a third information acquisition step of inputting the first information and second information on attributes of the robot to a vibration estimation model and acquiring output third information, and a second motion parameter acquisition step of acquiring a second motion parameter that shortens a working time using the first information, the second information, and the third information. The steps are repeatedly executed using the acquired second motion parameter as the first motion parameter and a target work motion parameter is acquired.

Abstract: A method of the present disclosure includes (a) a step of receiving track information for specifying a track of a target operation of a robot, (b) a step of acquiring, according to an instruction to adjust a parameter set for controlling the target operation, about one or more initial parameter sets, values of evaluation indicators of control results obtained when causing the robot to execute the target operation using the respective initial parameter sets, (c) a step of displaying, on a display section, one or more reference displays based on the acquired values of the evaluation indicators, and (d) a step of receiving an input of condition information for deciding a condition of optimization processing for the parameter set, the condition information being condition information about the evaluation indicators, performing the optimization processing for the parameter set according to the condition information, and determining a value of a new parameter set.

Abstract: A method according to an aspect includes (a) receiving track information for specifying a track of a target operation of a robot, (b) determining a first indicator and a second indicator, when one of the first indicator and the second indicator is superior, another being inferior, (c) receiving condition information for deciding conditions for optimization processing, (d) determining, based on the condition information, a search range and a parameter set used for the optimization processing, (e) acquiring values of the first indicator and the second indicator when the robot is caused to execute the target operation based on the determined parameter set, (f) determining a new parameter set based on the acquired values of the first indicator and the second indicator, and (g) repeating the steps (e) and (f) to acquire a parameter set more excellent in the first indicator than the parameter set determined in the step (d).

Abstract: (a) Determine first, second indexes. (b) Acquire values of the first, second indexes after a robot works using a parameter set. (c) Determine a new parameter set using a multi-objective optimization technique with a function containing the first, second indexes as an objective function. (d) Acquire values of the first, second indexes using the new parameter set. (e) Acquire parameter sets and values of the first, second indexes thereof by repeating (c), (d). (f) Perform display based on the values of the first, second indexes with respect to two or more of the parameter sets. The value of the first index of the first parameter set is better than the value of the first index of the second parameter set. The value of the second index of the second parameter set is better than the value of the second index of the first parameter set.

Abstract: A determination device that determines quality of target portion based on sensor data obtained by a sensor measuring the target object, includes one or more processors configured to acquire sensor data representing the target portion, acquire information indicating a changed portion, determine whether the target portion includes the changed portion based on acquired information, determine a first label of the target portion represented in the sensor data by using a determination model learned from a training dataset based on training target portions, the first label representing target portion as one of good, defect, and a defect candidate, accept a second label of the target portion input via a user interface when the target portion includes the changed portion or when the first label of the target portion is determined as the defect candidate, and perform quality determination of the target portion based on the first label and/or the second label.

Abstract: An overshoot amount detection method includes a first step of generating a first signal from a first detection signal output from an inertial sensor that detects inertia in a working unit of an arm to be displaced, a second step of generating a second signal using a second detection signal output from an encoder that detects an amount of displacement of the arm, and a third step of detecting an overshoot amount of the arm based on a third signal obtained by synthesis of the first signal and the second signal. The first step includes twice integration of the first detection signal and removing a low-frequency component contained in the first detection signal.

Abstract: A determination device that determines quality of target portion based on sensor data obtained by a sensor measuring the target object, includes one or more processors configured to acquire sensor data representing the target portion, acquire information indicating a changed portion, determine whether the target portion includes the changed portion based on acquired information, determine a first label of the target portion represented in the sensor data by using a determination model learned from a training dataset based on training target portions, the first label representing target portion as one of good, defect, and a defect candidate, accept a second label of the target portion input via a user interface when the target portion includes the changed portion or when the first label of the target portion is determined as the defect candidate, and perform quality determination of the target portion based on the first label and/or the second label.

Abstract: A control device includes a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to calculate an optical parameter related to an optical system imaging a target object, by using machine learning, detect the target object on the basis of an imaging result in the optical system by using the calculated optical parameter, and control a robot on the basis of a detection result of the target object.

Abstract: A control device includes a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to calculate an image processing parameter related to image processing on an image of a target object captured by a camera, by using machine learning, detect the target object on the basis of an image on which the image processing is performed by using the calculated image processing parameter, and control a robot on the basis of a detection result of the target object.

Abstract: In a biological information acquiring device 10, a sensor module 50 captures a biological image of a subject 2. A touch panel 16 has a display region A11 formed with approximately the same size as a measurement region A13 that matches the range of image capturing of the subject 2 by the sensor module 50, and in the display region A11 a biological image is displayed at approximately the same magnification as the range of image capturing. The image capturing direction of the sensor module 50 and the display direction of the touch panel 16 are in opposite directions, and the measurement region A13 and the display region A11 are arranged in layers at about the same position in a plan view. Accordingly, a target location suitable for acquiring the biological information can be easily specified.

Abstract: In a biological information processing apparatus, a body motion detection unit detects a body motion of a subject. A measurement method selection unit selects one measurement method on the basis of a detection result from the body motion detection unit, from among a plurality of measurement methods of measuring a blood glucose level by applying irradiation waves toward a living body of the subject. A measurement result display control unit performs control for displaying a measurement result which is obtained by performing a measurement according to the one measurement method.

Abstract: In a blood sugar level measuring device, a blood-sugar-level predicting unit predicts a blood sugar level of a user. A light emitting unit irradiates measurement light to the inside of a living organism of the user. A light-emission control unit, a measurement-point-candidate setting unit, a light-amount-control-method determining unit, and a measurement-point selecting unit control a light amount of measurement light per one measurement on the basis of the predicted blood sugar level. A light-reception control unit, a light-absorption-spectrum generating unit, and a blood-sugar-value calculating unit receive reflected light from the user and measure a blood sugar level.