Robot Arm Vibration Control via Inertial Sensor Segmentation

The patent divides the vibration detection function into multiple segments by placing acceleration sensors at multiple locations (end effector and intermediate joints). This segmentation allows the system to detect vibrations at different positions and identify which specific joint is the vibration source, resolving the information loss problem while maintaining detection capability.

The patent introduces intermediate acceleration sensors as mediators between the joint actuators and the end effector. These intermediate sensors act as information bridges that transmit vibration characteristics from each joint to the control system, enabling identification of vibration sources without requiring direct measurement at the end effector alone.

The patent makes each acceleration sensor multi-functional by programming it to detect vibrations from multiple joints simultaneously. The sensors at different locations serve dual purposes: detecting local vibrations and providing reference data for identifying vibration sources across the entire arm, reducing the need for additional specialized sensors.

The patent implements a feedback mechanism where acceleration sensors continuously monitor vibrations and feed this information back to the control system. The control system uses this feedback to identify vibration sources and adjust actuator commands accordingly, creating a closed-loop system that manages complexity through intelligent processing rather than merely adding more sensors.