Vibration Suppression for Improving the Estimation of Kinematic Parameters on Industrial Robots

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/sv/volume-2016/6954012/figures/6954012.fig.007a.svgz" name="6954012.fig.007a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Accelerometer raw signal</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/sv/volume-2016/6954012/figures/6954012.fig.007b.svgz" name="6954012.fig.007b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Spectrogram of the raw signal</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/sv/volume-2016/6954012/figures/6954012.fig.007c.svgz" name="6954012.fig.007c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Zoom to zone of vibration 1</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/sv/volume-2016/6954012/figures/6954012.fig.007d.svgz" name="6954012.fig.007d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Zoom to zone of vibration 2</td></tr><tr class="fig-image" id="e"><td><object data="https://static.hindawi.com/articles/sv/volume-2016/6954012/figures/6954012.fig.007e.svgz" name="6954012.fig.007e" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(e) </b>Zoom to zone of vibration 3</td></tr></table>

<div>One axis motion profile with noise due to vibration.</div>

Shock and Vibration

fig7

Figure 7

Figure 7: Vibration Suppression for Improving the Estimation of Kinematic Parameters on Industrial Robots 