# US 11,440,186 B2 · Overshoot amount detection method, overshoot amount detection system, robot system, and overshoot amount adjustment method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,440,186 B2 - Document ID: US11440186B2 - Status: Granted - Kind: B2 - Application number: 16/912,811 - Filed: 2020-06-26 - Published: 2020-12-31 - Granted: 2022-09-13 - Earliest claimed: 2019-06-27 - Assignees: Seiko Epson Corporation - Applicants: Seiko Epson Corporation - Inventors: Ryutaro Seki; Kimitake Mizobe - Web page: https://patentgrep.com/patent/US11440186B2 ## CPC - B25J 9/1638: {compensation for arm bending/inertia, pay load weight/inertia} - B25J 9/1653: {parameters identification, estimation, stiffness, accuracy, error analysis} - B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion} - B25J 13/088: {with position, velocity or acceleration sensors} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## 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. ## Claims ### Claim 1 An overshoot amount detection method for causing a processor to execute a process, the overshoot amount detection method comprising: 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, wherein the first step includes twice integration of the first detection signal and removing a low-frequency component contained in the first detection signal, the second step includes calculation of a velocity vector of the arm based on the second detection signal and information of a target stop position of the arm, the third step includes calculation of an inner product of the third signal and the velocity vector and calculation of a signal displacement in a velocity direction with respect to the velocity vector, and the overshoot amount is obtained based on the signal displacement. ### Claim 2 (depends on 1) The method according to claim 1, wherein at the first step, a coordinate system of the first detection signal is coordinate-transformed into a coordinate system of the second detection signal. ### Claim 3 (depends on 1) The method according to claim 1, wherein at the first step and the second step, the first detection signal and the second detection signal are synchronized. ### Claim 4 (depends on 1) The method according to claim 1, wherein the working unit is provided in a distal end portion of the arm, and the inertial sensor is provided in the distal end portion of the arm. ### Claim 5 (depends on 1) The method according to claim 1, wherein the inertial sensor is provided in the working unit. ### Claim 6 (depends on 1) The method according to claim 1, wherein the inertial sensor is an acceleration sensor. ### Claim 7 (depends on 1) The method according to claim 1, wherein the arm has a first arm pivoting about a first axis and a second arm pivoting about a second axis relative to the first arm and having the working unit, the encoder includes a first encoder detecting an amount of displacement of the first arm about the first axis and a second encoder detecting an amount of displacement of the second arm about the second axis, and at the second step, the second signal is generated from the second detection signal output from the first encoder and the second detection signal output from the second encoder. ### Claim 8 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. ### Claim 9 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. ### Claim 10 (depends on 9) The robot system according to claim 9, wherein the processor is configured to adjust a drive condition of the arm based on the overshoot amount. ### Claim 11 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.