Multidimensional Scaling Analysis of Robotic Signals

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

http://hdl.handle.net/10400.22/13575

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Authors

Lima, Miguel F. M.

Tenreiro Machado, J. A.

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. Eighteen signals are captured and several metrics are calculated between them, such as the correlation, the mutual information and the entropy. A sensor classification scheme based on the multidimensional scaling technique is presented.