Estimation of nonlinear effects in frequency-domain identification of industrial robots

• 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.

Nyckelord

closed loop systems

frequency response

frequency-domain analysis

industrial robots

nonlinear distortion

nonlinear effect estimation

multivariable frequency response function

closed loop

frequency domain identification

nonparametric identification

Frequency response functions (FRF)

TECHNOLOGY

TEKNIKVETENSKAP

Publikations- och innehållstyp

ref (ämneskategori)

art (ämneskategori)