Estimation of nonlinear effects in frequency domain identification of industrial robots

IEEE Transactions on Instrumentation and Measurement

Volumn 57, Issue 4, 2008, Pages 856-863

  Wernholt, Erik ^a   Gunnarsson, Svante ^a  

^a LINKÖPING UNIVERSITY   (Sweden)

Author keywords

Frequency response functions (FRF); Industrial robots; Multivariable systems; Nonlinear distortions; Nonparametric identification

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; FREQUENCY RESPONSE; MULTIVARIABLE SYSTEMS; NONLINEAR DISTORTION;

FREQUENCY DOMAIN IDENTIFICATION; FREQUENCY RESPONSE FUNCTIONS (FRF); NONPARAMETRIC IDENTIFICATION;

INDUSTRIAL ROBOTS;

EID: 41549108378     PISSN: 00189456     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIM.2007.911698     Document Type: Article

References (19)

1. K. Kozlowski, Modelling and Identification in Robotics, ser. Advances in Industrial Control. London, U.K.: Springer-Verlag, 1998.
2. F. Behi and D. Tesar, "Parametric identification for industrial manipulators using experimental modal analysis," IEEE Trans. Robot. Autom., vol. 7, no. 5, pp. 642-652, Oct. 1991.
3. R. Johansson, A. Robertsson, K. Nilsson, and M. Verhaegen, "State-space system identification of robot manipulator dynamics," Mechatronics vol. 10, no. 3, pp. 403-418, Apr. 2000.
4. A. Albu-Schäffer and G. Hirzinger, "Parameter identification and passivity based joint control for a 7DOF torque controlled light weight robot," in Proc. IEEE Int. Conf. Robot. Autom., Seoul, Korea, May 2001, pp. 2852-2858.
5. E. Wernholt and S. Gunnarsson, "Nonlinear identification of a physically parameterized robot model," in Proc. 14th IFAC Symp. Syst. Identification, Newcastle, Australia, Mar. 2006, pp. 143-148.
6. J. Öhr, S. Moberg, E. Wernholt, S. Hanssen, J. Pettersson, S. Persson, and S. Sander-Tavallaey, "Identification of flexibility parameters of 6-axis industrial manipulator models," in Proc. Int. Conf. Noise Vib. Eng. (ISMA), Leuven, Belgium, Sep. 2006.
7. R. Pintelon, G. Vandersteen, L. De Locht, Y. Rolain, and J. Schoukens, "Experimental characterization of operational amplifiers: A system identification approach - Part I: Theory and simulations," IEEE Trans. Instrum. Meas., vol. 53, no. 3, pp. 854-862, Jun. 2004.
8. R. Pintelon, Y. Rolain, G. Vandersteen, and J. Schoukens, "Experimental characterization of operational amplifiers: A system identification approach - Part II: Calibration and measurements," IEEE Trans. Instrum. Meas., vol. 53, no. 3, pp. 863-876, Jun. 2004.
9. E. Wernholt and S. Gunnarsson, "Detection and estimation of nonlinear distortions in industrial robots," in Proc. 23rd IEEE Instrum. Meas. Technol. Conf., Sorrento, Italy, Apr. 2006, pp. 1913-1918.
10. D. Hanselman, "Resolver signal requirements for high accuracy resolverto-digital conversion." IEEE Trans. Ind. Electron., vol. 37, no. 6, pp. 556-561, Dec. 1990.
11. H.-J. Gun, F. D. Scholl, and J. Blattner, "High precision servo drives with DSP-based torque ripple reduction," in Proc. IEEE AFRICON, Sep. 1996, vol. 2, pp. 632-637.
12. R. Dhaouadi, F. H. Ghorbel, and P. S. Gandhi, "A new dynamic model of hysteresis in harmonic drives," IEEE Trans. Ind. Electron., vol. 50, no. 6, pp. 1165-1171, Dec. 2003.
13. L. Ljung, System Identification: Theory for the User, 2nd ed. Upper Saddle River, NJ: Prentice-Hall, 1999.
14. R. Pintelon and J. Schoukens, System Identification: A Frequency Domain Approach. New York: IEEE Press, 2001.
15. R. Pintelon and J. Schoukens, "Measurement and modeling of linear systems in the presence of non-linear distortions," Mech. Syst. Signal Process., vol. 16, no. 5, pp. 785-801, 2002.
16. R. Pintelon and J. Schoukens, "Measurement of frequency response functions using periodic excitations, corrupted by correlated input/ output errors," IEEE Trans. Instrum. Meas., vol. 50, no. 6, pp. 1753-1760, Dec. 2001.
17. E. Wernholt and S. Gunnarsson, "Analysis of methods for multivariable frequency response function estimation in closed loop," Dept. Elect. Eng., Linköping Univ., Linköping, Sweden, Tech. Rep. LiTH-ISY-R-2775, Mar. 2007. submitted to CDC'07.
18. T. Dobrowiecki and J. Schoukens, "Measuring linear approximation to weakly nonlinear MIMO systems," in Proc. 16th IFAC World Congr., Prague, Czech Republic, Jul. 2005.
19. E. Wernholt and S. Gunnarsson, "On the use of a multivariable frequency response estimation method for closed loop identification," in Proc. 43rd IEEE Conf. Decision Control, Nassau, Bahamas, Dec. 2004, pp. 827-832.