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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

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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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.

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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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