# US 9,873,198 B2 · Active vibration damping device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,873,198 B2 - Document ID: US9873198B2 - Status: Granted - Kind: B2 - Application number: 14/506,878 - Filed: 2014-10-06 - Published: 2016-04-07 - Granted: 2018-01-23 - Earliest claimed: 2014-10-06 - Assignees: The Johns Hopkins University - Applicants: The Johns Hopkins University - Inventors: Russell H. Taylor; Kevin C. Olds; Guillaume Arvin - Web page: https://patentgrep.com/patent/US9873198B2 ## CPC - B25J 9/1628: {characterised by the control loop} - B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion} - Y10S 901/09: Closed loop, sensor feedback controls arm movement - Y10S 901/46: Sensing device - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract According to some embodiments of the present invention, a cooperatively-controlled robot includes a robotic actuator assembly comprising a tool holder and a force sensor. The cooperatively-controlled robot further includes a control system adapted to communicate with the robotic actuator assembly and the force sensor, and an actuator in communication with the control system and mechanically coupled to a tool. The force sensor is configured to detect a vibrational force applied on the tool and send a signal to the control system based on the vibrational force. The control system is configured to receive the signal and determine a force to apply to the tool to damp the vibrational force. The control system then signals to the actuator to apply the determined force, and the actuator applies the determined force to actively damp a vibration of the tool. ## Claims ### Claim 1 A cooperatively-controlled robot, comprising: a robotic actuator assembly comprising a tool holder and a force sensor; a control system adapted to communicate with said robotic actuator assembly and said force sensor; a rectangular cross-section plate configured to be in contact with a shaft of a tool along an entire length of the low-stiff rectangular cross-section plate; an actuator in communication with said control system and coupled to the rectangular cross-section plate, wherein said force sensor is configured to detect a vibrational force applied on said tool and send a signal to said control system based on said vibrational force, wherein said control system is configured to receive said signal and determine a force to apply to said tool to damp said vibrational force, wherein said control system is configured to signal to said actuator to apply said determined force, and wherein said actuator is configured to apply said determined force to actively damp a vibration of said tool. ### Claim 2 (depends on 1) A cooperatively-controlled robot according to claim 1, wherein said actuator is a piezoelectric actuator. ### Claim 3 (depends on 1) A cooperatively-controlled robot according to claim 1, wherein said actuator is an electric motor. ### Claim 4 (depends on 1) A cooperatively-controlled robot according to claim 1, wherein said actuator is a voice coil. ### Claim 5 (depends on 1) A cooperatively-controlled robot according to claim 1, wherein said actuator is a solenoid. ### Claim 6 (depends on 1) A cooperatively-controlled robot according to claim 1, further comprising: a second actuator in communication with said control system, wherein said first and second actuators are positioned on a first axial plane and a second axial plane, respectively, of said tool, wherein said first axial plane and said second axial plane are perpendicular to each other, wherein said control system is configured to determine a second force to apply to said tool to damp said vibrational force, wherein said second force is perpendicular to said first force, wherein said control system is configured to signal to said second actuator to apply said determined second force, and wherein said second actuator is configured to apply said determined second force to actively damp said vibration of said tool. ### Claim 7 (depends on 1) A cooperatively-controlled robot according to claim 1, further comprising: a charge amplifier electrically connected to said force sensor and said control system, wherein said charge amplifier is configured to receive a current signal from said force sensor and send a voltage signal to said control system, wherein said control system is configured to determine a force to apply to said tool to damp said vibrational force based on said voltage signal. ### Claim 8 (depends on 1) A cooperatively-controlled robot according to claim 1, further comprising: a voltage amplifier in communication with said control system and electrically connected to said actuator, wherein said voltage amplifier is configured to receive a voltage signal from said control system, and send an amplified voltage signal to said actuator. ### Claim 9 (depends on 1) A cooperatively-controlled robot according to claim 1, wherein said control system is configured to determine to apply a force that is greater than zero on a condition that a frequency of said detected vibrational force is greater than a pre-determined value. ### Claim 10 (depends on 1) A cooperatively-controlled robot according to claim 1, further comprising: a filter electrically connected to said force sensor and in communication with said control system, wherein said filter is configured to receive a signal from said force sensor based on said vibrational force, and send to said control system a portion of said signal having a frequency within a pre-defined range of frequencies. ### Claim 11 An active vibration damping system for use with a cooperatively controlled robot, comprising: a control system adapted to communicate with a robotic actuator assembly and a force sensor; a rectangular cross-section plate configured to be in contact with a shaft of a tool along an entire length of the low-stiff rectangular cross-section plate; an actuator in communication with said control system and coupled to the rectangular cross-section plate, wherein said force sensor is configured to detect a vibrational force applied on said tool and send a signal to said control system based on said vibrational force, wherein said control system is configured to receive said signal and determine a force to apply to said tool to damp said vibrational force, wherein said control system is configured to signal to said actuator to apply said determined force, and wherein said actuator is configured to apply said determined force to actively damp a vibration of said tool. ### Claim 12 (depends on 11) An active vibration damping system according to claim 11, wherein said actuator is a piezoelectric actuator. ### Claim 13 (depends on 11) An active vibration damping system according to claim 11, wherein said actuator is an electric motor. ### Claim 14 (depends on 11) An active vibration damping system according to claim 11, wherein said actuator is a voice coil. ### Claim 15 (depends on 11) An active vibration damping system according to claim 11, wherein said actuator is a solenoid. ### Claim 16 (depends on 11) An active vibration damping system of claim 11, further comprising: a second actuator in communication with said control system, wherein said first and second actuators are positioned on a first axial plane and a second axial plane, respectively, of said tool, wherein said first axial plane and said second axial plane are perpendicular to each other, wherein said control system is configured to determine a second force to apply to said tool to damp said vibrational force, wherein said second force is perpendicular to said first force, wherein said control system is configured to signal to said actuator to apply said determined second force, and wherein said second actuator is configured to apply said determined second force to actively damp said vibration of said tool. ### Claim 17 (depends on 11) An active vibration damping system according to claim 11, further comprising: a charge amplifier electrically connected to said force sensor and said control system, wherein said charge amplifier is configured to receive a current signal from said force sensor and send a voltage signal to said control system, wherein said control system is configured to determine a force to apply to said tool to damp said vibrational force based on said voltage signal. ### Claim 18 (depends on 11) An active vibration damping system according to claim 11, further comprising: a voltage amplifier in communication with said control system and electrically connected to said actuator, wherein said voltage amplifier is configured to receive a voltage signal from said control system, and send an amplified voltage signal to said actuator. ### Claim 19 (depends on 11) An active vibration damping system according to claim 11, wherein said control system is configured to determine to apply a force that is greater than zero on a condition that a frequency of said detected vibrational force is greater than a pre-determined value. ### Claim 20 (depends on 11) An active vibration damping system according to claim 11, further comprising: a filter electrically connected to said force sensor and in communication with said control system, wherein said filter is configured to receive a signal from said force sensor based on said vibrational force, and send to said control system a portion of said signal having a frequency within a pre-defined range of frequencies.