Lima, Miguel F. M.Tenreiro Machado, J. A.Crisóstomo, Manuel2019-04-022007-06http://hdl.handle.net/10400.22/13337This 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.engRobot sensing systemsManipulatorsSensor phenomena and characterizationVibrationsIntelligent sensorsSensor systemsconference object10.1109/CIRA.2007.382854