A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment Validation
Joint Authors
Ren, Wu
Wu, Yunxin
Zhang, Zhaowei
Hu, Fan
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-02-06
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
Stress signal is difficult to obtain in the health monitoring of multibody manipulator.
In order to solve this problem, a soft sensor method is presented.
In the method, stress signal is considered as dominant variable and angle signal is regarded as auxiliary variable.
By establishing the mathematical relationship between them, a soft sensor model is proposed.
In the model, the stress information can be deduced by angle information which can be easily measured for such structures by experiments.
Finally, test of ground and wall working conditions is done on a multibody manipulator test rig.
The results show that the stress calculated by the proposed method is closed to the test one.
Thus, the stress signal is easier to get than the traditional method.
All of these prove that the model is correct and the method is feasible.
American Psychological Association (APA)
Ren, Wu& Wu, Yunxin& Zhang, Zhaowei& Hu, Fan. 2014. A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment Validation. Journal of Robotics،Vol. 2014, no. 2014, pp.1-8.
https://search.emarefa.net/detail/BIM-1042879
Modern Language Association (MLA)
Ren, Wu…[et al.]. A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment Validation. Journal of Robotics No. 2014 (2014), pp.1-8.
https://search.emarefa.net/detail/BIM-1042879
American Medical Association (AMA)
Ren, Wu& Wu, Yunxin& Zhang, Zhaowei& Hu, Fan. A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment Validation. Journal of Robotics. 2014. Vol. 2014, no. 2014, pp.1-8.
https://search.emarefa.net/detail/BIM-1042879
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1042879