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Inventi Impact - Robotics

Articles

  • Inventi:erb/86/14
    A LARGE-SCALE MULTIBODY MANIPULATOR SOFT SENSOR MODEL AND EXPERIMENT VALIDATION
    Wu Ren, Yunxin Wu, Zhaowei Zhang, Fan Hu

    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.

    How to Cite this Article
    CC Compliant Citation: Wu Ren, Yunxin Wu, Zhaowei Zhang, and Fan Hu, “A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment Validation,” Journal of Robotics, vol. 2014, Article ID 769783, 8 pages, 2014. doi:10.1155/2014/769783. Copyright © 2014 Wu Ren et al. This article is distributed under the Creative Commons Attribution License(http://creativecommons.org/licenses/by/3.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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