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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)Report (Other academic)
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
Linköping: Linköping University Electronic Press, 2006. , 9 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2740
Keyword [en]
Frequency response functions, Multivariable systems, Nonlinear distortions, Non-parametric identification, Industrial robots
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56092ISRN: LiTH-ISY-R-2740OAI: oai:DiVA.org:liu-56092DiVA: diva2:316840
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-08Bibliographically approved

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Wernholt, ErikGunnarsson, Svante

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf