Detection and Estimation of Nonlinear Distortions in Industrial Robots
2006 (English)In: Proceedings of the 23rd IEEE Instumentation and Measurement Technology Conference, 2006, 1913-1918 p.Conference paper (Refereed)
System identiﬁcation in robotics often involves the estimation of linear models characterizing the behavior in certain operating points. In this paper, a method for the detection and estimation of nonlinear distortions in an estimated frequency response function (FRF) has successfully been applied to experimental data from an industrial robot. The results show that nonlinear distortions areindeed present and cause larger variability in the FRF than the measurement noise contributions.
Place, publisher, year, edition, pages
2006. 1913-1918 p.
Frequency response functions, Multivariable systems, Nonlinear distortions, Non-parametric identification, Industrial robots
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-34812DOI: 10.1109/IMTC.2006.328310Local ID: 23332ISBN: 0-7803-9360-0ISBN: 0-7803-9359-7OAI: oai:DiVA.org:liu-34812DiVA: diva2:255660
23rd IEEE Instrumentation and Measurement Technology Conference, Sorrento, Italy, April, 2006