DocumentCode
1026691
Title
Estimation of Nonlinear Effects in Frequency Domain Identification of Industrial Robots
Author
Wernholt, Erik ; Gunnarsson, Svante
Author_Institution
Linkoping Univ., Linkoping
Volume
57
Issue
4
fYear
2008
fDate
4/1/2008 12:00:00 AM
Firstpage
856
Lastpage
863
Abstract
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, which were collected in closed loop, from an industrial robot. The results show that nonlinear distortions are indeed present and cause larger variability in the FRF than the measurement-noise contributions.
Keywords
closed loop systems; frequency response; frequency-domain analysis; industrial robots; nonlinear distortion; closed loop; frequency domain identification; industrial robot; multivariable frequency response function; nonlinear distortions; nonlinear effect estimation; Frequency response functions (FRF); industrial robots; multivariable systems; nonlinear distortions; nonparametric identification;
fLanguage
English
Journal_Title
Instrumentation and Measurement, IEEE Transactions on
Publisher
ieee
ISSN
0018-9456
Type
jour
DOI
10.1109/TIM.2007.911698
Filename
4419915
Link To Document