Rattlin' noise
Also, it may be the sleeve ring of your O2 sensors vibrating. Mine does that, I've taped them up but they still vibrate some. That's not quite like the sound you're describing though, mine is only at idle and only after the system is warm. Kinda the oppsite of yours.
For your's I'd guess either heat shield or a pipe hitting the floor somewhere. Try just shaking your whole exhaust around while under your car and see if you can get it to make the noise.....





