US 12,461,123 B2
Oscillation information calculation device, oscillation information calculation method, and non-transitory computer-readable recording medium
Yuta Shiraki, Osaka (JP); Hiroshi Fujiwara, Osaka (JP); and Toru Tazawa, Osaka (JP)
Assigned to Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
Appl. No. 18/248,174
Filed by Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
PCT Filed Dec. 23, 2021, PCT No. PCT/JP2021/047792
§ 371(c)(1), (2) Date Apr. 6, 2023,
PCT Pub. No. WO2022/138797, PCT Pub. Date Jun. 30, 2022.
Claims priority of application No. 2020-213146 (JP), filed on Dec. 23, 2020.
Prior Publication US 2025/0076102 A1, Mar. 6, 2025
Int. Cl. G01P 21/00 (2006.01); G01H 1/00 (2006.01); G01P 15/18 (2013.01); G05B 5/01 (2006.01); G05B 19/404 (2006.01); G05B 19/4062 (2006.01)
CPC G01P 21/00 (2013.01) [G01H 1/003 (2013.01); G01P 15/18 (2013.01); G05B 5/01 (2013.01); G05B 19/404 (2013.01); G05B 19/4062 (2013.01)] 10 Claims
OG exemplary drawing
 
1. An oscillation information calculation device comprising:
a sensor information obtainer that obtains 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
an information calculator that calculates and outputs 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.