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Experimental backlash study in mechanical manipulators

Published online by Cambridge University Press:  04 March 2010

Miguel F. M. Lima ,
J. A. Tenreiro Machado  and
Manuel Crisóstomo
Miguel F. M. Lima*
Affiliation:
Department of Electrical Engineering, Superior School of Technology, Polytechnic Institute of Viseu, 3504-510 Viseu, Portugal
J. A. Tenreiro Machado
Affiliation:
Department of Electrical Engineering, Institute of Engineering, Polytechnic Institute of Porto, 4200-072 Porto, Portugal
Manuel Crisóstomo
Affiliation:
Institute of Systems and Robotics, Department of Electrical and Computer Engineering, University of Coimbra, Polo II, 3030-290 Coimbra, Portugal
*
*Corresponding author. E-mail: lima@mail.estv.ipv.pt
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Summary

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.

Information

Type
Article
Information
Robotica , Volume 29 , Issue 2 , March 2011 , pp. 211 - 219
Copyright
Copyright © Cambridge University Press 2010

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