Windowed Fourier Transform of Experimental Robotic Signals with Fractional Behavior

This 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 noninteger 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.