抄録
In this paper, we propose a method to design damping control parameters for shortening the cycle time. Designing appropriate parameters of force control is necessary in robotic assembly for successful operations. Moreover, obtaining control parameters that can shorten the cycle time to perform operations is very important in industrial applications. In our method, we obtain sub-optimal parameters by repetitive simulation because it is difficult to calculate the cycle time analytically. First, a simulator of an assembly operation is developed based on preliminary experiments. We then formulate the method as an optimization problem and solve it using the simulator. Finally, results of the optimization are presented.
