Overshoot amount detection method and robot system

A robot system comprising:

• an arm to be displaced;
• an inertial sensor that detects inertia in a working unit of the arm;
• an encoder that detects 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:
• control the arm to perform a signal synchronizing operation;
• obtain a first synchronizing signal output from the inertial sensor during the signal synchronization operation;
• obtain a second synchronizing signal from the encoder during the signal synchronizing operation;
• calculate a shift amount between the first and second synchronization signals at a time of a same action of the arm performed during the signal synchronizing operation, the shift amount corresponding to a time difference between the first and second synchronization signals at the time of the same action of the arm;
• synchronize a signal of the inertial sensor with a signal of the encoder based on the shift amount;
• control the arm to perform a working operation;
• generate a first signal by twice integration of a first detection signal output from the inertial sensor during the working operation 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 during the working operation;
• and
• detect an overshoot amount of the arm based on the first signal and the second signal.