Filtering method in backlash phenomena analysis

Authors:
Miguel F. M. Lima;J. A. Tenreiro Machado;Manuel CrisóStomo
Affiliations:
Department of Electrotechnical Engineering, Superior School of Technology, Polytechnic Institute of Viseu, 3504-510 Viseu, Portugal;Department of Electrotechnical Engineering, Institute of Engineering, Polytechnic Institute of Porto, 4200-072 Porto, Portugal;Institute of Systems and Robotics, University of Coimbra, Polo II, 3030-290 Coimbra, Portugal
Venue:
Mathematical and Computer Modelling: An International Journal
Year:
2009

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Abstract

The behavior of robotic manipulators with backlash is analyzed. Based on the pseudo-phase plane two indices are proposed to evaluate the backlash effect upon the robotic system: the root mean square error and the fractal dimension. For the dynamical analysis the noisy signals captured from the system are filtered through wavelets. Several tests are developed that demonstrate the coherence of the results.