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Impact hammer experiments are typically used for identifying the Frequency Response Function (FRF) of six-degree-of-freedom (6-dof) industrial robots for machining applications. However, the modal properties of 6-dof industrial robots change as a function of robot arm configuration. Hence, describing the robot's modal parameters within its workspace requires off-line impact hammer experiments performed at discrete robot end effector positions, which are costly and time consuming. Instead, it isdoi:10.1016/j.promfg.2020.05.032 fatcat:d6nsbnim4bfy5fpzdptxllwkzm