OTHER
Estimation of Nonlinear Effects in Frequency Domain Identification of Industrial Robots
Erik Wernholt, Svante Gunnarsson
- Year
- 2008
- Citations
- 45
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
Frequency domainNonlinear systemFrequency responseControl theory (sociology)Noise (video)Identification (biology)Multivariable calculusNoise measurementRobotIndustrial robot
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