Improving experiment design for frequency-domain identification of industrial robots

• For accurate control of industrial robots, a fast and easy-to-use method to estimate the model parameters based on experimental data is desired. This publication is about optimal experiment design in terms of short experiment times and an accurate parameter estimate. An optimization problem that is based on information matrices is solved for finding the optimal robot configurations for the identification experiment. A simulation study shows that the experiment time can be reduced significantly and the accuracy of the parameter estimate can be increased if experiments are conducted only in the optimal manipulator configurations. Furthermore, it is shown that a realistic estimate of the uncertainty in the frequency response function is crucial for successful experiment design.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

Closed-loop identification

frequency-domain

nonlinear systems

industrial robots

optimal experiment design

covariance matrices

Publikations- och innehållstyp

ref (ämneskategori)

kon (ämneskategori)