Experimental determination of frequency response function estimates for flexible joint industrial manipulators with serial kinematics

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...

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Veröffentlicht in:	Mechanical systems and signal processing 2015-02, Vol.52-53, p.60-72, Article 60
Hauptverfasser:	Saupe, Florian, Knoblach, Andreas
Format:	Artikel
Sprache:	eng
Schlagworte:	Chirp Closed loop identification Estimates Experiment design Flexible joint manipulator Frequency response function Frequency response functions Kinematics Manipulators Multisine Robots Serials
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