A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment Validation
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 mathemati...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2014/769783 |
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| _version_ | 1849686830523351040 |
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| author | Wu Ren Yunxin Wu Zhaowei Zhang Fan Hu |
| author_facet | Wu Ren Yunxin Wu Zhaowei Zhang Fan Hu |
| author_sort | Wu Ren |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-00ffcb6f44e64cb1854f897aec735733 |
| institution | DOAJ |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-00ffcb6f44e64cb1854f897aec7357332025-08-20T03:22:33ZengWileyJournal of Robotics1687-96001687-96192014-01-01201410.1155/2014/769783769783A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment ValidationWu Ren0Yunxin Wu1Zhaowei Zhang2Fan Hu3State Key Laboratory for High Performance Complex Manufacturing, College of Mechanical and Electrical Engineering, Central South University New Campus, B-405 Room of Electrical and Mechanical Buildings, Changsha, Hunan 410083, ChinaState Key Laboratory for High Performance Complex Manufacturing, College of Mechanical and Electrical Engineering, Central South University New Campus, B-405 Room of Electrical and Mechanical Buildings, Changsha, Hunan 410083, ChinaState Key Laboratory for High Performance Complex Manufacturing, College of Mechanical and Electrical Engineering, Central South University New Campus, B-405 Room of Electrical and Mechanical Buildings, Changsha, Hunan 410083, ChinaState Key Laboratory for High Performance Complex Manufacturing, College of Mechanical and Electrical Engineering, Central South University New Campus, B-405 Room of Electrical and Mechanical Buildings, Changsha, Hunan 410083, ChinaStress 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.http://dx.doi.org/10.1155/2014/769783 |
| spellingShingle | Wu Ren Yunxin Wu Zhaowei Zhang Fan Hu A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment Validation Journal of Robotics |
| title | A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment Validation |
| title_full | A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment Validation |
| title_fullStr | A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment Validation |
| title_full_unstemmed | A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment Validation |
| title_short | A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment Validation |
| title_sort | large scale multibody manipulator soft sensor model and experiment validation |
| url | http://dx.doi.org/10.1155/2014/769783 |
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