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Detection and Estimation of Nonlinear Distortions in Industrial Robots
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2006 (English)In: Proceedings of the 23rd IEEE Instumentation and Measurement Technology Conference, 2006, 1913-1918 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Keyword [en]
Frequency response functions, Multivariable systems, Nonlinear distortions, Non-parametric identification, Industrial robots
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-34812DOI: 10.1109/IMTC.2006.328310Local ID: 23332ISBN: 0-7803-9360-0 (print)ISBN: 0-7803-9359-7 (print)OAI: oai:DiVA.org:liu-34812DiVA: diva2:255660
Conference
23rd IEEE Instrumentation and Measurement Technology Conference, Sorrento, Italy, April, 2006
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2013-02-26

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Wernholt, ErikGunnarsson, Svante

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  • nn-NB
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