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Journal of Robotics
Volume 2014 (2014), Article ID 769783, 8 pages
Research Article

A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment Validation

State 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, China

Received 24 September 2013; Revised 15 November 2013; Accepted 26 December 2013; Published 6 February 2014

Academic Editor: Shahram Payandeh

Copyright © 2014 Wu Ren et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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.