Title :
Detection and Estimation of Nonlinear Distortions in Industrial Robots
Author :
Wernholt, Erik ; Gunnarsson, Svante
Author_Institution :
Dept. of Electr. Eng., Linkoping Univ.
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;
Conference_Titel :
Instrumentation and Measurement Technology Conference, 2006. IMTC 2006. Proceedings of the IEEE
Conference_Location :
Sorrento
Print_ISBN :
0-7803-9359-7
Electronic_ISBN :
1091-5281
DOI :
10.1109/IMTC.2006.328310
