DocumentCode
3010460
Title
Towards a Sensor Classification Scheme for Robotic Manipulators
Author
Lima, Miguel F M ; Machado, J. A Tenreiro ; Crisóstomo, Manuel
Author_Institution
Polytech Inst. of Viseu, Viseu
fYear
2007
fDate
20-23 June 2007
Firstpage
297
Lastpage
302
Abstract
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.
Keywords
Fourier transforms; end effectors; Fourier transforms; end-effector; flexible beam; frequency spectrum behavior; mechanical manipulator; rigid surface; robotic manipulators; sensor classification scheme; Hardware; Intelligent sensors; Manipulators; Robot sensing systems; Robotics and automation; Sensor fusion; Sensor phenomena and characterization; Sensor systems; Signal analysis; Vibrations;
fLanguage
English
Publisher
ieee
Conference_Titel
Computational Intelligence in Robotics and Automation, 2007. CIRA 2007. International Symposium on
Conference_Location
Jacksonville, FI
Print_ISBN
1-4244-0790-7
Electronic_ISBN
1-4244-0790-7
Type
conf
DOI
10.1109/CIRA.2007.382854
Filename
4269854
Link To Document