Autor(es):
Lima, Miguel 
; Machado, J. A. Tenreiro ; Crisóstomo, Manuel
Data: 2011
Identificador Persistente: http://hdl.handle.net/10400.22/4083
Origem: Repositório Científico do Instituto Politécnico do Porto
Detalhes do Documento
Experimental backlash study in mechanical manipulators
Descrição
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.
Tipo de Documento
Artigo
Idioma Inglês
Idioma Inglês
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