Filtering method in backlash phenomena analysis
نویسندگان
چکیده
The behavior of robotic manipulators with backlash is analyzed. Based on the pseudo-phase plane two indices are proposed to evaluate the backlash effect upon the robotic system: the root mean square error and the fractal dimension. For the dynamical analysis the noisy signals captured from the system are filtered through wavelets. Several tests are developed that demonstrate the coherence of the results.
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ورودعنوان ژورنال:
- Mathematical and Computer Modelling
دوره 49 شماره
صفحات -
تاریخ انتشار 2009