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Design of Excitation Signals for the Closed Loop Identification of Industrial Robots

Saupe, Florian and Knoblach, Andreas (2012) Design of Excitation Signals for the Closed Loop Identification of Industrial Robots. Multi-Conference on Systems and Control 2012, 03.-05. Oktober 2012, Dubrovnik, Kroatien.

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Abstract

This paper focuses on closed loop experiment designs for the estimation of frequency response functions of industrial manipulators. It addresses the difficult choice of excitation signals w.r.t. a minimization of the disturbing impact of nonlinearities like Coulomb friction. The basis for the treatise are two widespread types of excitations, multisine and chirp signals. By superimposing the actual excitation with additional signals and by introducing a frequency dependent amplitude of the excitation signal, the disturbances due to the nonlinearities are purposefully detected and/or eliminated. Simulations of a simple academical example and experiments performed in a hardware testbed allow for a comparison of the proposed approaches and show their effectiveness and synergies.

Item URL in elib:https://elib.dlr.de/78270/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Design of Excitation Signals for the Closed Loop Identification of Industrial Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Saupe, Florianflorian.saupe (at) dlr.deUNSPECIFIED
Knoblach, Andreasandreas.knoblach (at) dlr.deUNSPECIFIED
Date:October 2012
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Identification, Robotics
Event Title:Multi-Conference on Systems and Control 2012
Event Location:Dubrovnik, Kroatien
Event Type:international Conference
Event Dates:03.-05. Oktober 2012
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Knoblach, Andreas
Deposited On:13 Nov 2012 10:20
Last Modified:13 Nov 2012 10:38

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