Next Article in Journal
Design and Simulation of a MEMS Control Moment Gyroscope for the Sub-Kilogram Spacecraft
Next Article in Special Issue
Common Criteria Related Security Design Patterns—Validation on the Intelligent Sensor Example Designed for Mine Environment
Previous Article in Journal
Ultra-High-Speed Image Signal Accumulation Sensor
Previous Article in Special Issue
Localization of Mobile Robots Using Odometry and an External Vision Sensor
Sensors 2010, 10(4), 4114-4129; doi:10.3390/s100404114
Article

FPGA-Based Fused Smart Sensor for Dynamic and Vibration Parameter Extraction in Industrial Robot Links

1
, 1
, 1
, 2
 and 3,*
1 HSPdigital – CA Mecatronica, Facultad de Ingenieria, Universidad Autonoma de Queretaro, Campus San Juan del Rio, Rio Moctezuma 249, 76807 San Juan del Rio, Qro., Mexico 2 Facultad de Ingenieria, Universidad Autonoma de Queretaro, Cerro de las Campanas s/n, 76010 Queretaro, Qro., Mexico 3 HSPdigital – CA Telematica, DICIS, Universidad de Guanajuato, Carr. Salamanca-Valle km 3.5+1.8, Palo Blanco, 36700 Salamanca, Gto., Mexico
* Author to whom correspondence should be addressed.
Received: 2 March 2010 / Revised: 20 April 2010 / Accepted: 20 April 2010 / Published: 26 April 2010
(This article belongs to the Special Issue Intelligent Sensors - 2010)
View Full-Text   |   Download PDF [3738 KB, uploaded 21 June 2014]   |   Browse Figures

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).
Keywords: smart sensor; motion dynamics; vibrations; accelerometer; FPGA smart sensor; motion dynamics; vibrations; accelerometer; FPGA
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Share & Cite This Article

Export to BibTeX |
EndNote


MDPI and ACS Style

Rodriguez-Donate, C.; Morales-Velazquez, L.; Osornio-Rios, R.A.; Herrera-Ruiz, G.; Romero-Troncoso, R.J. FPGA-Based Fused Smart Sensor for Dynamic and Vibration Parameter Extraction in Industrial Robot Links. Sensors 2010, 10, 4114-4129.

View more citation formats

Related Articles

Article Metrics

Comments

Citing Articles

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert