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 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).
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. cdonate@hspdigital.org
Carlos
C
Rodriguez-Donate
Luis
L
Morales-Velazquez
Roque Alfredo
RA
Osornio-Rios
Gilberto
G
Herrera-Ruiz
Rene
R
de Jesus Romero-Troncoso