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Towards a Sensor Classification Scheme for Robotic Manipulators

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3 Author(s)
Lima, M.F.M. ; Polytech Inst. of Viseu, Viseu ; Machado, J.A.T. ; Crisostomo, M.

This 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.

Published in:

Computational Intelligence in Robotics and Automation, 2007. CIRA 2007. International Symposium on

Date of Conference:

20-23 June 2007