Lima, Miguel F. M.Tenreiro Machado, J. A.Crisóstomo, Manuel2019-04-022006-08http://hdl.handle.net/10400.22/13318This paper analyzes the signals captured during impacts and vibrations of a mechanical manipulator. The signals are treated through signal processing tools such as the fast Fourier transform and the windowed Fourier transform.The Fourier spectrum of several signals presents a non integer behavior. The experimental study provides useful information that can assist in the design of a control system to deal with the unwanted effects of vibrations.engFourier transformsManipulatorsRobot sensing systemsVibration controlVibration measurementControl systemsMicromanipulatorsconference object10.1109/ICCCYB.2006.305734