Oscillation information calculation device, oscillation information calculation method, and non-transitory computer-readable recording medium

An oscillation information calculation method comprising:

• obtaining time series position information on a motor as detected by a position detector, and time series sensor information on a movable part as detected by a sensor attached to the movable part, the movable part being connected to the motor via a joint;
• and
• calculating and outputting at least one of oscillation presence/absence information, oscillation frequency information, or oscillation causal information, based on the time series position information and the time series sensor information, the oscillation presence/absence information indicating presence or absence of oscillation of the motor and the movable part, the oscillation frequency information indicating an oscillation frequency of the motor and the movable part, the oscillation causal information indicating a cause of an oscillation of the motor and the movable part,
• wherein the cause indicated by the oscillation causal information includes at least one of:
• a resonance-based cause arising from a resonance relationship between a command signal for moving the movable part to a target position and an oscillation frequency of equipment including the motor and the movable part;
• or
• an anti-resonance-based cause arising from an anti-resonance relationship between the command signal and the oscillation frequency.

A non-transitory computer-readable recording medium having recorded thereon a program for causing an oscillation information calculation device to execute oscillation information calculation processing including:

• obtaining time series position information on a motor as detected by a position detector, and time series sensor information on a movable part as detected by a sensor attached to the movable part, the movable part being connected to the motor via a joint;
• and
• calculating and outputting at least one of oscillation presence/absence information, oscillation frequency information, or oscillation causal information, based on the time series position information and the time series sensor information, the oscillation presence/absence information indicating presence or absence of oscillation of the motor and the movable part, the oscillation frequency information indicating an oscillation frequency of the motor and the movable part, the oscillation causal information indicating a cause of an oscillation of the motor and the movable part,
• wherein the cause indicated by the oscillation causal information includes at least one of:
• a resonance-based cause arising from a resonance relationship between a command signal for moving the movable part to a target position and an oscillation frequency of equipment including the motor and the movable part;
• or
• an anti-resonance-based cause arising from an anti-resonance relationship between the command signal and the oscillation frequency.