Robot End Effector Displacement Sensing Under Vibration

The patent replaces contact-based mechanical vibration sensors with non-contact displacement sensors (such as laser sensors or optical sensors) to detect end effector displacement. This substitution eliminates mechanical contact with the product, thereby preventing product damage while maintaining the ability to detect displacement distortion through optical fields instead of mechanical contact.

The patent introduces an intermediary optical field (laser beam or optical signal) between the sensor and the end effector to transmit measurement information without physical contact. The optical field acts as a mediator that carries displacement information from the end effector to the sensor without requiring direct mechanical contact, thus avoiding product damage.

The patent merges the functions of multiple sensors to achieve both non-contact measurement and vibration compensation. Specifically, it combines non-contact displacement sensors (for position measurement) with contact-based vibration sensors (for vibration detection) or uses multiple non-contact sensors to simultaneously measure both displacement and vibration characteristics, thereby overcoming the limitations of each individual sensor type.

The patent implements feedback mechanisms where vibration data from vibration sensors is used to compensate for measurement errors in displacement measurements. The system continuously monitors vibration and adjusts the displacement measurement calculations in real-time to compensate for vibration-induced errors, thereby maintaining measurement accuracy despite the presence of vibration.

The patent implements self-service monitoring where the robot system automatically detects its own displacement distortion using integrated sensors and autonomously determines whether correction is needed. The system performs self-diagnosis and can trigger automatic correction routines or alert operators, eliminating the need for external manual monitoring and reducing overall system complexity despite continuous monitoring capabilities.

The patent performs preliminary calibration and baseline establishment during system setup, storing reference data for normal operation. This preliminary action allows the continuous monitoring system to compare real-time measurements against pre-established baselines, simplifying the monitoring logic and reducing computational complexity during actual operation while maintaining high reliability through continuous comparison.