Overshoot amount detection method, overshoot amount detection system, robot system, and overshoot amount adjustment method

An overshoot amount detection system comprising:

• an inertial sensor configured to detect inertia in a working unit of an arm to be displaced;
• an encoder configured to detect an amount of displacement of the arm;
• a memory configured to store a program;
• and
• a processor configured to execute the program so at to:
• generate a first signal by twice integration on a first detection signal output from the inertial sensor and removal of a low-frequency component contained in the first detection signal;
• generate a second signal for supplement of the low-frequency component of the first signal from a second detection signal output from the encoder;
• and
• detect an overshoot amount of the arm based on the first signal and the second signal,
• wherein the processor is further configured to:
• calculate a velocity vector of the arm based on the second detection signal and information of a target stop position of the arm;
• obtain a third signal by synthesis of the first signal and the second signal;
• and
• calculate an inner product of the third signal and the velocity vector and calculate a signal displacement in a velocity direction with respect to the velocity vector, and
• the overshoot amount is obtained based on the signal displacement.

A robot system comprising:

• an arm to be displaced;
• an inertial sensor configured to detect inertia in a working unit of the arm;
• an encoder configured to detect an amount of displacement of the arm;
• a memory configured to store a program;
• and
• a processor configured to execute the program so as to:
• generate a first signal by twice integration on a first detection signal output from the inertial sensor and removal of a low-frequency component contained in the first detection signal;
• generate a second signal for supplement of the low-frequency component of the first signal from a second detection signal output from the encoder;
• and
• detect an overshoot amount from a target stop position of the arm based on the first signal and the second signal,
• wherein the processor is further configured to:
• calculate a velocity vector of the arm based on the second detection signal and information of a target stop position of the arm;
• obtain a third signal by synthesis of the first signal and the second signal;
• and
• calculate an inner product of the third signal and the velocity vector and calculate a signal displacement in a velocity direction with respect to the velocity vector, and
• the overshoot amount is obtained based on the signal displacement.

An overshoot amount adjustment method for causing a processor to execute a process, the overshoot amount detection method comprising executing on the processor the steps of:

• generating a first signal by twice integration on a first detection signal output from an inertial sensor that detects inertia in a working unit of an arm to be displaced and removal of a low-frequency component contained in the first detection signal;
• generating a second signal for supplement of the low-frequency component of the first signal from a second detection signal output from an encoder that detects an amount of displacement of the arm;
• detecting an overshoot amount of the arm based on the first signal and the second signal;
• and
• adjusting a drive condition of the arm to make an actual overshoot amount smaller than the detected overshoot amount,
• wherein the processor is further configured to:
• calculate a velocity vector of the arm based on the second detection signal and information of a target stop position of the arm;
• obtain a third signal by synthesis of the first signal and the second signal;
• and
• calculate an inner product of the third signal and the velocity vector and calculate a signal displacement in a velocity direction with respect to the velocity vector, and
• the overshoot amount is obtained based on the signal displacement.