Abstract: A method of adjusting a force control parameter includes a first step of moving a robot arm based on first information on work start position and orientation of the robot arm and a candidate value of a force control parameter, and acquiring second information on a working time taken for the work and third information on a force applied to the robot arm during the work, and a second step of acquiring an updated value obtained by updating of the candidate value of the force control parameter based on the acquired second information and third information, wherein the first step and the second step are repeatedly performed with noise added to the first information until the acquired working time or force applied to the robot arm converges, and a final value of the force control parameter is obtained.

Abstract: One or more force control parameters used in force control is adjusted. A robot system includes a robot, a force detector configured to measure an external force exerted on the robot, and a control section that causes the robot to perform an action through feedback control. A measured force value that is a measured value of the external force is produced by causing the robot to perform an action using one or more second servo gains corresponding to one or more first servo gains used when the robot system is caused to perform an actual task, the second servo gains each having a value greater than the value of the corresponding first servo gain, and further using a candidate value of the force control parameters. A new candidate value of the force control parameters is produced by carrying out an optimization process on the force control parameters by using the measured force value.

Abstract: A reset process includes: first processing for resetting a force detection unit; second processing for determining whether a peak output value from the force detection unit is equal to or greater than a predetermined first threshold value in a first period and updating a determination result; third processing for executing the first processing when the peak value is equal to or greater than the first threshold value; fourth processing for executing the second processing when the peak value is not equal to or greater than the first threshold value and a second period did not elapse from the timing when the force detection unit was reset; and fifth processing for calculating an average of the output values in a third period as a first offset value when the peak value is not equal to or greater than the first threshold value and the second period elapsed from the timing.

Abstract: A robot system includes a robot, a force detector, and an end effector. When the robot is caused to execute a following operation, force control is performed based on a measurement value by the force detector. The following operation is an operation in which a first target object held by the end effector is inserted into a void included in a second target object or pulled out from the void while coming into contact with the second target.

Abstract: A method of adjusting a force control parameter includes a first step of moving a robot arm based on first information on work start position and orientation of the robot arm and a candidate value of a force control parameter, and acquiring second information on a working time taken for the work and third information on a force applied to the robot arm during the work, and a second step of acquiring an updated value obtained by updating of the candidate value of the force control parameter based on the acquired second information and third information, wherein the first step and the second step are repeatedly performed with noise added to the first information until the acquired working time or force applied to the robot arm converges, and a final value of the force control parameter is obtained.

Abstract: A method of presenting a takt time includes a first step of acquiring first information on a type of a first object or a second object and second information on a movement direction of the first object during the work, a second step of acquiring third information on a takt time taken for the work by using a table prepared with respect to each combination of the first information and the second information and showing relationships between a force control parameter and a takt time corresponding to the force control parameter, and associating the first information and the second information acquired at the first step with the table, and a third step of presenting the third information acquired at the second step.

Abstract: A first step of executing a first operation to bring a hand placed on a robot arm or a first object held by the hand into contact with a second object based on a first force control parameter, a second step of acquiring information of an external force applied to the robot arm by executing a second operation different from the first operation on a robot with the hand or the first object in contact with the second object, a third step of acquiring information of external rigidity based on the acquired external force information, and a fourth step of changing the force control parameter from the first force control parameter to a second force control parameter acquired based on the acquired external rigidity information and a position of a control point corresponding to the acquired external rigidity information are provided.

Abstract: A robot includes a robot arm, a force sensor that is provided on the robot arm, and a processor that is configured to execute computer-executable instructions so as to control the robot and process a sensor output of the force sensor. The processor is configured to: set an offset calculation period after resetting the force sensor; and perform an offset calculation operation for calculating a value based on the sensor output during the offset calculation period as an offset and a correction operation for subtracting the offset from the sensor output at the time of force detection after the elapse of the offset calculation period.

Abstract: A robot system includes: a robot having a robot arm; a robot controller configured to move the robot arm based on a motion program stored in a memory; a display screen; and a display controller configured to generate and display a constant velocity area of a control point path for the robot arm. The motion program instructs the robot controller to move a control point on the robot arm along the control point path. The display controller being configured to display the constant velocity area by generating a path display image depicting the control point path, displaying the path display image on a display screen, and superimposing a constant velocity area on the path display image.

Abstract: A robot 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: receive a first instruction from an operation device; display information regarding a target vibration frequency of a robot obtained based on vibration data indicating vibration of the robot in a certain time section on a display, when the processor receives the first instruction; set the target vibration frequency; generate a second control signal obtained by reducing the target vibration frequency from a first control signal based on the set target vibration frequency; and generate a driving signal to drive the robot based on the second control signal and output the driving signal.

Abstract: A control device includes: a processor that is configured to execute computer-executable instructions so as to control a robot provided with a force sensor, wherein the processor is configured to display a first detection result in which specific position information indicating a specific position of the robot and force information output from a force sensor correspond to each other on a display, in a case where robot inspects an operation component that outputs an electric signal corresponding to an operation.

Abstract: A reset process includes: first processing for resetting a force detection unit; second processing for determining whether a peak output value from the force detection unit is equal to or greater than a predetermined first threshold value in a first period and updating a determination result; third processing for executing the first processing when the peak value is equal to or greater than the first threshold value; fourth processing for executing the second processing when the peak value is not equal to or greater than the first threshold value and a second period did not elapse from the timing when the force detection unit was reset; and fifth processing for calculating an average of the output values in a third period as a first offset value when the peak value is not equal to or greater than the first threshold value and the second period elapsed from the timing.

Abstract: When teaching a robot, at least one processor brings a first object and a second object into contact with each other with a first force by using the robot, and generates teaching data based on the contact. When causing the robot to perform an operation according to the teaching data, the at least one processor causes the first object and the second object to be fitted to each other with a second force greater than the first force, by using the robot.

Abstract: A robot system includes: a robot having a robot arm; a robot controller configured to move the robot arm based on a motion program stored in a memory; a display screen; and a display controller configured to generate and display a constant velocity area of a control point path for the robot arm. The motion program instructs the robot controller to move a control point on the robot arm along the control point path. The display controller being configured to display the constant velocity area by generating a path display image depicting the control point path, displaying the path display image on a display screen, and superimposing a constant velocity area on the path display image.

Abstract: A control device which controls a robot having a moving part includes: a processor which is configured to cause an end effector provided on the moving part to move an insertion object, bring the insertion object into contact with an insertion hole provided in an insertion target object in the state where the insertion object is tilted from a center axis of the insertion hole, and subsequently insert the insertion object into the insertion hole.

Abstract: A robot includes a robot arm, a force sensor that is provided on the robot arm, and a processor that is configured to execute computer-executable instructions so as to control the robot and process a sensor output of the force sensor. The processor is configured to: set an offset calculation period after resetting the force sensor; and perform an offset calculation operation for calculating a value based on the sensor output during the offset calculation period as an offset and a correction operation for subtracting the offset from the sensor output at the time of force detection after the elapse of the offset calculation period.

Abstract: A robot control apparatus that controls a robot having a movable part provided with a force detection unit includes a robot control part that performs force control on the movable part based on output of the force detection unit, wherein, when an insertion job of moving at least one of a first object and a second object having an insertion portion and inserting the first object into the insertion portion is performed by the movable part, the robot control part performs the force control on the movable part at least in a part of the insertion job, and a first target force of the force control for the movable part to position the first object in a first position and a second target force of the force control for the movable part to position the first object in a second position different from the first position are different.

Abstract: A robot control device includes a processor that is configured to execute computer-executable instructions so as to control a robot including a robot arm, an end effector detachably attached to the robot arm and configured to hold an object, and a force detecting device. the processor is configured to: calculate, on the basis of position and posture information of a first point of the robot arm and relative position and posture information of a second point of the object with respect to the first point, position and posture information of the second point when the robot operates; and cause a memory to store the position and posture information of the second point.

Abstract: When teaching a robot, at least one processor brings a first object and a second object into contact with each other with a first force by using the robot, and generates teaching data based on the contact. When causing the robot to perform an operation according to the teaching data, the at least one processor causes the first object and the second object to be fitted to each other with a second force greater than the first force, by using the robot.

Abstract: A robot control apparatus that controls a robot including a manipulator, a force detector provided in the manipulator, and an actuator that drives the manipulator based on a target position, includes a display control unit that displays a motion position of the manipulator derived based on a target force and an output of the force detector and the target position on a screen.