FPGA-Based Fused Smart Sensor for Dynamic and Vibration Parameter Extraction in Industrial Robot Links
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...
Main Authors: | , , , , |
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Format: | Article |
Language: | English |
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MDPI AG
2010-04-01
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Series: | Sensors |
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Online Access: | http://www.mdpi.com/1424-8220/10/4/4114/ |
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author | Rene de Jesus Romero-Troncoso Gilberto Herrera-Ruiz Roque Alfredo Osornio-Rios Luis Morales-Velazquez Carlos Rodriguez-Donate |
author_facet | Rene de Jesus Romero-Troncoso Gilberto Herrera-Ruiz Roque Alfredo Osornio-Rios Luis Morales-Velazquez Carlos Rodriguez-Donate |
author_sort | Rene de Jesus Romero-Troncoso |
collection | DOAJ |
description | 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). |
first_indexed | 2024-04-11T13:27:52Z |
format | Article |
id | doaj.art-7900eb4e186847ee864ab8ff292a9f40 |
institution | Directory Open Access Journal |
issn | 1424-8220 |
language | English |
last_indexed | 2024-04-11T13:27:52Z |
publishDate | 2010-04-01 |
publisher | MDPI AG |
record_format | Article |
series | Sensors |
spelling | doaj.art-7900eb4e186847ee864ab8ff292a9f402022-12-22T04:22:00ZengMDPI AGSensors1424-82202010-04-011044114412910.3390/s100404114FPGA-Based Fused Smart Sensor for Dynamic and Vibration Parameter Extraction in Industrial Robot LinksRene de Jesus Romero-TroncosoGilberto Herrera-RuizRoque Alfredo Osornio-RiosLuis Morales-VelazquezCarlos Rodriguez-DonateIntelligent 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).http://www.mdpi.com/1424-8220/10/4/4114/smart sensormotion dynamicsvibrationsaccelerometerFPGA |
spellingShingle | Rene de Jesus Romero-Troncoso Gilberto Herrera-Ruiz Roque Alfredo Osornio-Rios Luis Morales-Velazquez Carlos Rodriguez-Donate FPGA-Based Fused Smart Sensor for Dynamic and Vibration Parameter Extraction in Industrial Robot Links Sensors smart sensor motion dynamics vibrations accelerometer FPGA |
title | FPGA-Based Fused Smart Sensor for Dynamic and Vibration Parameter Extraction in Industrial Robot Links |
title_full | FPGA-Based Fused Smart Sensor for Dynamic and Vibration Parameter Extraction in Industrial Robot Links |
title_fullStr | FPGA-Based Fused Smart Sensor for Dynamic and Vibration Parameter Extraction in Industrial Robot Links |
title_full_unstemmed | FPGA-Based Fused Smart Sensor for Dynamic and Vibration Parameter Extraction in Industrial Robot Links |
title_short | FPGA-Based Fused Smart Sensor for Dynamic and Vibration Parameter Extraction in Industrial Robot Links |
title_sort | fpga based fused smart sensor for dynamic and vibration parameter extraction in industrial robot links |
topic | smart sensor motion dynamics vibrations accelerometer FPGA |
url | http://www.mdpi.com/1424-8220/10/4/4114/ |
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