Estimation of nonlinear effects in frequency-domain identification of industrial robots
2008 (English)In: IEEE Transactions on Instrumentation and Measurement, Braunschweig, Germany, 2008, 856-863 p.Conference paper (Other academic)
A method for the detection and estimation of nonlinear distortions when identifying multivariable frequency response functions (FRF) is considered. The method is successfully applied to experimental data, which were collected in closed loop, from an industrial robot. The results show that nonlinear distortions are indeed present and cause larger variability in the FRF than the measurement-noise contributions.
Place, publisher, year, edition, pages
2008. 856-863 p.
, IEEE Transactions on Instrumentation and Measurement, ISSN 0018-9456
closed loop systems, frequency response, frequency-domain analysis, industrial robots, nonlinear distortion, nonlinear effect estimation, multivariable frequency response function, closed loop, frequency domain identification, nonparametric identification, Frequency response functions (FRF)
Engineering and Technology
IdentifiersURN: urn:nbn:se:liu:diva-12714DOI: 10.1109/TIM.2007.911698OAI: oai:DiVA.org:liu-12714DiVA: diva2:16901