Design of excitation signals for the closed loop identification of industrial robots

Different Models of a Scaled Experimental Running Gear for the DLR RailwayDynamics Library

“…In a next step, the transfer behavior from the input u = τ f to the output y = y f of the real running gear is compared to the MBS model in Figure 7. The particular curves are created using a chirp signal as input (Saupe and Knoblach, 2012) and each is showing a nearly constant transfer behavior for frequencies of up to 1 Hz. The green curve represents the running gear configuration without the redesign enhancements described in section 2.…”

LPV gray box identification of industrial robots for control

“…This leads to orthogonal signals, which yields a well-conditioned U(ω k ) for the inversion in (5), see [9].…”

“…Afterwards, it is low-pass filtered, sampled to about ten samples per period and a Hann window is applied before the is DFT calculated. Further details are explained in [9]. For unstable systems, a closed loop identification (see Figure 1) must be performed.…”

“…Instead of an input signal u(t), a reference signal r(t) is used to excite the system. In [9], an iterative method is described, that allows to compute a reference signal r(t) s. t. the resulting input signal u(t) equals a desired u des (t).…”