Using UWB sensor for delta robot vibration detection

This study proposed the ultra-wideband(UWB) sensor to detect the vibration of the delta robot and the distance between UWB sensor and robot arm. Based on the radar propagating principle and the proposed algorithm, the vibration status of robot arm can be obtained. Besides, the vibration status can be reduced by feedback the information to the controller of the robot arm. The advantage of the proposed sensor is that without contacting to the robot arm, UWB sensor is more flexible to be used and will not cause any unnecessary payload as accelerometers. With proper calibration, the simulation of vibration frequency and the real-time absolute position of the robot arm were calculated and demonstrated. The experimental results show that the correlations for measured frequency and distance approximate to 1.