机器人机械手传感器分类方案研究

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI:10.1109/CIRA.2007.382854

M. Lima, J. Machado, M. Crisostomo

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引用次数: 2

摘要

本文分析了机械臂在冲击和振动过程中捕获的信号。为了测试冲击，一个柔性梁被夹在一个操纵器的末端执行器上，这个操纵器被编程成这样，使杆在刚性表面上移动。几个信号被捕获，它们的傅里叶变换被计算和近似的趋势线基于幂律公式。提出了一种基于频谱特性的传感器分类方案。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Towards a Sensor Classification Scheme for Robotic Manipulators

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.

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来源期刊

2007 International Symposium on Computational Intelligence in Robotics and Automation

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