Detection and estimation of nonlinear distortions in industrial robots [Elektronisk resurs] / Erik Wernholt, Svante Gunnarsson.

• System identification in robotics often involves the estimation of linear models characterizing the behavior in certain operating points. In this paper, a method for the detection and estimation of nonlinear distortions in an estimated frequency response function (FRF) has successfully been applied to experimental data from an industrial robot. The results show that nonlinear distortions areindeed present and cause larger variability in the FRF than the measurement noise contributions. 

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Frequency response functions