Patent ID: 7460154

Claim:
A vibration compensation apparatus comprising: an angular velocity detector that detects angular velocities in vibration detection axes directions, the vibration detection axes being two orthogonal detection axes, and outputs corresponding angular velocity signals; a compensation unit that compensates vibration in vibration compensation axes directions, the vibration compensation axes being two orthogonal axes that make an angle with said vibration detection axes due to deviation of alignment between said angular velocity detector and said compensation unit; and a conversion unit that converts the angular velocity signals expressed in the vibration detection axes directions obtained by said angular velocity detector or vibration compensation signals based on the angular velocity signals into angular velocity signals or vibration compensation signals expressed in the vibration compensation axes directions using equations for rotation transformation based on said angle, wherein said compensation unit compensates the vibration based on the angular velocity signals or vibration compensation signals converted by said conversion unit, and said conversion unit performs the following operations: X=x cos θ− y sin θ Y=y cos θ+ x sin θ wherein x and y are the angular velocity signals expressed in the vibration detection axes direction or compensation signals based on the angular velocity signals, θ is said angle made by the vibration detection axes and the vibration compensation axes, and X and Y are converted signals.