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A sensor classification scheme of robotic manipulators using multidimensional scaling technique
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This paper analyzes the signals captured during impacts and vibra-tions 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 theirs correlation are calculated. A sensor classification scheme based on the multidimensional scal-ing technique is presented.