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Method of Tuning Parameters for Compliant Motion Tasks in Robot Programming

IP.com Disclosure Number: IPCOM000107694D
Original Publication Date: 1992-Mar-01
Included in the Prior Art Database: 2005-Mar-22
Document File: 2 page(s) / 50K

Publishing Venue

IBM

Related People

Asaka, S: AUTHOR [+3]

Abstract

A method is proposed for experimentally obtaining optimized motion parameters for a compliant motion robot which executes complex tasks.

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Method of Tuning Parameters for Compliant Motion Tasks in Robot Programming

       A method is proposed for experimentally obtaining
optimized motion parameters for a compliant motion robot which
executes complex tasks.

      Motion parameters are optimized through the iteration of the
following process by the mechanism in the figure:
     1. task trial by the robot,
     2. quantitative evaluation of the trial, and
     3. modification of the motion parameters.

      In the trial phase, the program and data for the task are
executed by the tuning planner, which also manages the parameter
modifier. The robot's status in the task is sampled by the motion
monitor in a realtime system. The performance of the trial is
evaluated in the task evaluator. The parameter modifier changes
motion parameters according to the evaluation.

      As a cost function used in the task evaluator for evaluating
compliant robot motion in a task, the total work performed by an
object handled by a robot and its environment is calculated by
integrating the instantaneous power with respect to time in the task.
       W =   P dt =   f v dt
where f is the force applied by the end-effector, v is its velocity,
and t is time.

      The response surface method is used in the tuning planner for
designing experiments to tune parameters. It is a sequential approach
applicable to any number of parameters, and therefore matches our
approach.