signal analysis – Clustering FFT frequency bins from sensor time series data

I am trying to analyse multivariate time series data sets. I have 6 signals for each event, representing 3 linear accelerations and 3 rotational velocities for a 40ms window. I am trying to find a way to cluster together similar events based of these 6 signals.

The method I am currently looking at is using FFT on each signal to reduce it to frequency bins, Then doing some sort of clustering algorithm on highest 3 amplitude frequencies or something along those lines.

My question is what sort of clustering algorithm should I be looking at to cluster my problem. If for example my problem has 100 events, 6 sensors, 3 frequency and amplitudes per sensor per event.

I am new to this type of signal processing so this methodology might not be feasible but I welcome any suggestions on a clustering algorithm or a completely other approach that you might think is better for my problem.

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