Detection and Estimation of Nonlinear Distortions in Industrial Robots
2006 (English)Report (Other academic)
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
Linköping: Linköping University Electronic Press, 2006. , 9 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2740
Frequency response functions, Multivariable systems, Nonlinear distortions, Non-parametric identification, Industrial robots
IdentifiersURN: urn:nbn:se:liu:diva-56092ISRN: LiTH-ISY-R-2740OAI: oai:DiVA.org:liu-56092DiVA: diva2:316840