ISEP – DEE – Comunicações em eventos científicos
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Browsing ISEP – DEE – Comunicações em eventos científicos by Subject "Acquisition System"
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- Experimental Apparatus for Vibration Analysis in RoboticsPublication . Lima, Miguel F. M.; Tenreiro Machado, J. A.; Crisóstomo, ManuelRobotic systems use different types of sensors both in control and in environment perception. Those sensors can be digital encoders, tachometers, accelerometers, force sensors,current sensors and many others. In this paper an experimental setup is presented to study vibrations and impacts. The system acquires data from the sensors, in real time, and, in a second phase, processes it through an analysis package. Several examples with experimental results are carried out showing the functionalities of the developed apparatus.
- Fractional order fourier spectra in robotic manipulators with vibrationsPublication . Lima, Miguel F. M.; Tenreiro Machado, J. A.; Crisóstomo, ManuelThis paper presents a fractional system perspective in the study of signals captured during impacts and vibrations of mechanical manipulators. In order to acquire and study the signals an experimental setup was developed. The system acquires data from the sensors, in real time, and, in a second phase, processes it through an analysis package. The experimental study provides useful information that can assist in the design of a control system to be used in eliminating or reducing the effect of vibrations.
- Study of experimental signals during impacts and vibrations of robotic manipulatorPublication . Lima, Miguel F. M.; Tenreiro Machado, J. A.; Crisóstomo, ManuelIn practice the robotic manipulators present some degree of unwanted vibrations. In fact, the advent of lightweight arm manipulators, mainly in the aerospace industry, where weight is an important issue, leads to the problem of intense vibrations. On the other hand, robots intercting with environment often generate impacts that propagate through the mechanical structure and produce vibrations. Reference [1] mentions several techniques for reducing vibrations and its implementation either at the robot manufacturing stage or at the operational stage. One of the techniques, that has been receiving considerable attention, consists on the use of a micromanipulator [2], with a higher frequency response than the main manipulator, mounted at the end-effector and actively counter-acting the undesirable dynamics.