Author(s):
Lima, Miguel 
; Machado, J. A. Tenreiro ; Crisóstomo, Manuel
Date: 2011
Persistent ID: http://hdl.handle.net/10400.22/4083
Origin: Repositório Científico do Instituto Politécnico do Porto
Document details
Experimental backlash study in mechanical manipulators
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.
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.
Document Type
Article
Language English
Language English
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