Detection and Estimation of Nonlinear Distortions in Industrial Robots

Author

Wernholt, Erik ; Gunnarsson, Svante

Author_Institution

Dept. of Electr. Eng., Linkoping Univ.

fYear

2006

fDate

24-27 April 2006

Firstpage

1913

Lastpage

1918

Abstract

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 are indeed present and cause larger variability in the FRF than the measurement noise contributions

Keywords

frequency estimation; industrial robots; multivariable systems; nonlinear distortion; frequency response function estimation; industrial robots; nonlinear distortions; system identification; Control systems; Electrical equipment industry; Frequency estimation; Frequency response; MIMO; Nonlinear distortion; Nonlinear dynamical systems; Service robots; System identification; Uncertainty; Frequency response functions; industrial robots; multivariable systems; non-parametric identification; nonlinear distortions;

fLanguage

English

Publisher

ieee

Conference_Titel

Instrumentation and Measurement Technology Conference, 2006. IMTC 2006. Proceedings of the IEEE

Conference_Location

Sorrento

ISSN

1091-5281

Print_ISBN

0-7803-9359-7

Electronic_ISBN

1091-5281

Type

conf

DOI

10.1109/IMTC.2006.328310

Filename

4124685