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Sensors 2010, 10(4), 4114-4129; doi:10.3390/s100404114

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

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)
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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). View Full-Text
Keywords: smart sensor; motion dynamics; vibrations; accelerometer; FPGA smart sensor; motion dynamics; vibrations; accelerometer; FPGA
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This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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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.

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