Title :
Estimation of Nonlinear Effects in Frequency Domain Identification of Industrial Robots
Author :
Wernholt, Erik ; Gunnarsson, Svante
Author_Institution :
Linkoping Univ., Linkoping
fDate :
4/1/2008 12:00:00 AM
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;
Journal_Title :
Instrumentation and Measurement, IEEE Transactions on
DOI :
10.1109/TIM.2007.911698
