FPGA-Based Fused Smart Sensor for Dynamic and Vibration Parameter Extraction in Industrial Robot Links
نویسندگان
چکیده
Intelligent robotics demands the integration of smart sensors that allow the controller to efficiently measure physical quantities. Industrial manipulator robots require a constant monitoring of several parameters such as motion dynamics, inclination, and vibration. This work presents a novel smart sensor to estimate motion dynamics, inclination, and vibration parameters on industrial manipulator robot links based on two primary sensors: an encoder and a triaxial accelerometer. The proposed smart sensor implements a new methodology based on an oversampling technique, averaging decimation filters, FIR filters, finite differences and linear interpolation to estimate the interest parameters, which are computed online utilizing digital hardware signal processing based on field programmable gate arrays (FPGA).
منابع مشابه
A Simple Approach for Determination of Actuator and Sensor Locations in Smart Structures Subjected To the Dynamic Loads
The present work demonstrates the successful application of a simple active vibration control procedure based on structural dynamics. Based on mathematical and structural dynamics’ theories, the appropriate locations of sensor and actuator locations of the smart structure are predicted. Also, the optimum value of actuator force which controls the structural vibrations as quickly as it is possib...
متن کاملVibration Response of an Elastically Connected Double-Smart Nanobeam-System Based Nano-Electro-Mechanical Sensor
Nonlocal vibration of double-smart nanobeam-systems (DSNBSs) under a moving nanoparticle is investigated in the present study based on Timoshenko beam model. The two smart nanobeams (SNB) are coupled by an enclosing elastic medium which is simulated by Pasternak foundation. The energy method and Hamilton’s principle are used to establish the equations of motion. The detailed param...
متن کاملFused Smart Sensor Network for Multi-Axis Forward Kinematics Estimation in Industrial Robots
Flexible manipulator robots have a wide industrial application. Robot performance requires sensing its position and orientation adequately, known as forward kinematics. Commercially available, motion controllers use high-resolution optical encoders to sense the position of each joint which cannot detect some mechanical deformations that decrease the accuracy of the robot position and orientatio...
متن کاملPerformance Analysis of an Industrial Robot Under Uniform Temperature Change
The effect of temperature change on dynamic performances of an industrial robot with six axes of freedom is studied in this paper. In general, the strain and stress are produced not only by the external exciting force, but also by temperature change. The strain energy that is caused by temperatureThis paper describes how the temperature variation effects the dynamic performance of an indu...
متن کاملDynamic Obstacle Avoidance by Distributed Algorithm based on Reinforcement Learning (RESEARCH NOTE)
In this paper we focus on the application of reinforcement learning to obstacle avoidance in dynamic Environments in wireless sensor networks. A distributed algorithm based on reinforcement learning is developed for sensor networks to guide mobile robot through the dynamic obstacles. The sensor network models the danger of the area under coverage as obstacles, and has the property of adoption o...
متن کامل