Towards a Sensor Classification Scheme for Robotic Manipulators

Lima, Miguel F. M.; Tenreiro Machado, J. A.; Crisóstomo, Manuel

http://hdl.handle.net/10400.22/13337

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Authors

Lima, Miguel F. M.

Tenreiro Machado, J. A.

Crisóstomo, Manuel

Abstract(s)

This paper analyzes the signals captured during impacts and vibrations of a mechanical manipulator. To test the impacts, a flexible beam is clamped to the end-effector of a manipulator that is programmed in a way such that the rod moves against a rigid surface. Several signals are captured and theirs Fourier Transforms are calculated and approximated by trendlines based on a power law formula. A sensor classification scheme based on the frequency spectrum behavior is presented.