Experimental backlash study in mechanical manipulators

Detalhes bibliográficos
Autor(a) principal: Lima, Miguel
Data de Publicação: 2011
Outros Autores: Machado, J. A. Tenreiro, Crisóstomo, Manuel
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.22/4083
Resumo: The behavior of mechanical manipulators with backlash is analyzed. In order to acquire and study the signals an experimental setup is implemented. The signal processing capabilities of the wavelets are used for de-noising the experimental signals and the energy of the obtained components is analyzed. To evaluate the backlash effect upon the robotic system, it is proposed an index based on the pseudo phase plane representation. Several tests are developed that demonstrate the coherence of the results.
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spelling Experimental backlash study in mechanical manipulatorsThe behavior of mechanical manipulators with backlash is analyzed. In order to acquire and study the signals an experimental setup is implemented. The signal processing capabilities of the wavelets are used for de-noising the experimental signals and the energy of the obtained components is analyzed. To evaluate the backlash effect upon the robotic system, it is proposed an index based on the pseudo phase plane representation. Several tests are developed that demonstrate the coherence of the results.Cambridge University PressRepositório Científico do Instituto Politécnico do PortoLima, MiguelMachado, J. A. TenreiroCrisóstomo, Manuel2014-02-28T09:37:33Z20112011-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/4083eng10.1017/S0263574710000056info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T12:44:06Zoai:recipp.ipp.pt:10400.22/4083Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:25:02.936034Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Experimental backlash study in mechanical manipulators
title Experimental backlash study in mechanical manipulators
spellingShingle Experimental backlash study in mechanical manipulators
Lima, Miguel
title_short Experimental backlash study in mechanical manipulators
title_full Experimental backlash study in mechanical manipulators
title_fullStr Experimental backlash study in mechanical manipulators
title_full_unstemmed Experimental backlash study in mechanical manipulators
title_sort Experimental backlash study in mechanical manipulators
author Lima, Miguel
author_facet Lima, Miguel
Machado, J. A. Tenreiro
Crisóstomo, Manuel
author_role author
author2 Machado, J. A. Tenreiro
Crisóstomo, Manuel
author2_role author
author
dc.contributor.none.fl_str_mv Repositório Científico do Instituto Politécnico do Porto
dc.contributor.author.fl_str_mv Lima, Miguel
Machado, J. A. Tenreiro
Crisóstomo, Manuel
description The behavior of mechanical manipulators with backlash is analyzed. In order to acquire and study the signals an experimental setup is implemented. The signal processing capabilities of the wavelets are used for de-noising the experimental signals and the energy of the obtained components is analyzed. To evaluate the backlash effect upon the robotic system, it is proposed an index based on the pseudo phase plane representation. Several tests are developed that demonstrate the coherence of the results.
publishDate 2011
dc.date.none.fl_str_mv 2011
2011-01-01T00:00:00Z
2014-02-28T09:37:33Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
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status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/4083
url http://hdl.handle.net/10400.22/4083
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1017/S0263574710000056
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Cambridge University Press
publisher.none.fl_str_mv Cambridge University Press
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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