Stress signal is difficult to obtain in the health monitoring of multibody manipulator. In order to solve this problem, a soft sensor\nmethod is presented. In the method, stress signal is considered as dominant variable and angle signal is regarded as auxiliary\nvariable. By establishing the mathematical relationship between them, a soft sensor model is proposed. In the model, the stress\ninformation can be deduced by angle information which can be easily measured for such structures by experiments. Finally, test of\nground and wall working conditions is done on a multibody manipulator test rig. The results show that the stress calculated by the\nproposed method is closed to the test one.Thus, the stress signal is easier to get than the traditional method. All of these prove that\nthe model is correct and the method is feasible.
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