Estimation of Nonlinear Effects in Frequency Domain Identification of Industrial Robots
2008 (English)In: IEEE Transactions on Instrumentation and Measurement, ISSN 0018-9456, Vol. 57, no 4, 856-863 p.Article in journal (Refereed) Published
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 from an industrial robot, collected in closed loop. 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
IEEE Instrumentation and Measurement Society , 2008. Vol. 57, no 4, 856-863 p.
Frequency response functions, Industrial robots, Multivariable systems, Nonlinear distortions, Nonparametric identification
IdentifiersURN: urn:nbn:se:liu:diva-42259DOI: 10.1109/TIM.2007.911698Local ID: 62093OAI: oai:DiVA.org:liu-42259DiVA: diva2:263115