Saupe, Florian und Knoblach, Andreas (2015) Experimental determination of frequency response function estimates for flexible joint industrial manipulators with serial kinematics. Mechanical Systems and Signal Processing (MSSP), 52/53, Seiten 60-72. Elsevier. doi: 10.1016/j.ymssp.2014.08.011. ISSN 0888-3270.
![]() |
PDF
919kB |
Offizielle URL: http://www.sciencedirect.com/science/article/pii/S0888327014003276
Kurzfassung
Abstract Two different approaches for the determination of frequency response functions (FRFs) are used for the non-parametric closed loop identification of a flexible joint industrial manipulator with serial kinematics. The two applied experiment designs are based on low power multisine and high power chirp excitations. The main challenge is to eliminate disturbances of the {FRF} estimates caused by the numerous nonlinearities of the robot. For the experiment design based on chirp excitations, a simple iterative procedure is proposed which allows exploiting the good crest factor of chirp signals in a closed loop setup. An interesting synergy of the two approaches, beyond validation purposes, is pointed out.
elib-URL des Eintrags: | https://elib.dlr.de/91416/ | ||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Zeitschriftenbeitrag | ||||||||||||
Titel: | Experimental determination of frequency response function estimates for flexible joint industrial manipulators with serial kinematics | ||||||||||||
Autoren: |
| ||||||||||||
Datum: | 2015 | ||||||||||||
Erschienen in: | Mechanical Systems and Signal Processing (MSSP) | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Ja | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Ja | ||||||||||||
In ISI Web of Science: | Ja | ||||||||||||
Band: | 52/53 | ||||||||||||
DOI: | 10.1016/j.ymssp.2014.08.011 | ||||||||||||
Seitenbereich: | Seiten 60-72 | ||||||||||||
Verlag: | Elsevier | ||||||||||||
ISSN: | 0888-3270 | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | Frequency response function Closed loop identification Experiment design Flexible joint manipulator Multisine Chirp | ||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik (alt) | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Systemdynamik und Regelungstechnik > Raumfahrt-Systemdynamik | ||||||||||||
Hinterlegt von: | Knoblach, Andreas | ||||||||||||
Hinterlegt am: | 17 Nov 2014 14:49 | ||||||||||||
Letzte Änderung: | 20 Nov 2023 14:23 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags