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- Title
FPGA-Based Fused Smart Sensor for Dynamic and Vibration Parameter Extraction in Industrial Robot Links.
- Authors
Rodriguez-Donate, Carlos; Morales-Velazquez, Luis; Osornio-Rios, Roque Alfredo; Herrera-Ruiz, Gilberto; de Jesus Romero-Troncoso, Rene
- Abstract
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).
- Subjects
MOTION; VIBRATION (Mechanics); INDUSTRIAL robots; SENSOR networks; FIELD programmable gate arrays; PHYSICAL constants; ACCELEROMETERS; ROBOTICS software; DIGITAL filters (Mathematics)
- Publication
Sensors (14248220), 2010, Vol 10, Issue 4, p4114
- ISSN
1424-8220
- Publication type
Article
- DOI
10.3390/s100404114