Experimental determination of frequency response function estimates for flexible joint industrial manipulators with serial kinematics
Determination of frequency response functions of industrial manipulators via two distinct experimental methods. Practical considerations for the experimental designs which allow avoiding the disturbing impact of the common nonlinearities. Dedicated signal design and signal processing. Experimental results obtained in a hardware testbed with an industrial manipulator. Comparison and discussion of the two approaches based on the experimental results.
frequency response function closed loop identification experiment design flexible joint manipulator multisine chirp