Lima, MiguelMachado, J. A. TenreiroCrisóstomo, ManuelFerrolho, António2015-11-272015-11-272006978-88-901928-1-4http://hdl.handle.net/10400.22/7018This paper analyzes the signals captured during impacts and vibrations of a mechanical manipulator. The Fourier Transform of eighteen different signals are calculated and approximated by trendlines based on a power law formula. A sensor classification scheme based on the frequency spectrum behavior is presented.engVibrationsImpactsAquisition systemRoboticsSensorsReal-timeFourier Transformbook part