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...

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Main Authors: Rene de Jesus Romero-Troncoso, Gilberto Herrera-Ruiz, Roque Alfredo Osornio-Rios, Luis Morales-Velazquez, Carlos Rodriguez-Donate
Format: Article
Language:English
Published: MDPI AG 2010-04-01
Series:Sensors
Subjects:
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).
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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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