Lima, Miguel F. M.Tenreiro Machado, J. A.2019-04-182019-04-182009http://hdl.handle.net/10400.22/13646This 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.engconference object