Reliability analysis and synthesis of robot manipulators

Author(s):  
Zhongxiu Shi
Author(s):  
P. K. Bhatti ◽  
S. S. Rao

Abstract A probabilistic approach to robot kinematics is presented and the concept of manipulator reliability is introduced to obtain a better evaluation of the performance of manipulators. Techniques are presented to compute this reliability and its relationship to the geometric parameters such as tolerances and arm configuration are discussed. The aspects of accuracy and repeatability of manipulators are explained in terms of manipulator reliability. The reliability of a two-link planar manipulator and the Stanford arm are considered for numerical illustration.


2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Carlos Alberto Chavez Guzmán ◽  
Luis Tupak Aguilar Bustos ◽  
Jován Oseas Mérida Rubio

The H∞ regulation problem for robot manipulators using gravitational force compensation or precompensation has been solved locally while global asymptotical stability (or global stability) has been demonstrated using other methodologies. A solution to the global nonlinear H∞ regulation problem for l-degrees-of-freedom (l-DOF) robot manipulators, affected by external disturbances, is presented. We showed that the Hamilton-Jacobi-Isaacs (HJI) inequality, inherited in the solution of the H∞ control problem, is satisfied by defining a strict Lyapunov function. The performance issues of the nonlinear H∞ regulator are illustrated in experimental and simulation studies made for a 3-DOF rigid links robot manipulator.


1988 ◽  
Vol 110 (2) ◽  
pp. 175-181 ◽  
Author(s):  
P. K. Bhatti ◽  
S. S. Rao

A probabilistic approach to robot kinematics is presented and the concept of manipulator reliability is introduced to obtain a better evaluation of the performance of manipulators. Techniques are presented to compute this reliability and its relationship to the geometric parameters such as tolerances and arm configuration are discussed. The aspects of accuracy and repeatability of manipulators are explained in terms of manipulator reliability. The reliability of a two-link planar manipulator and the Stanford arm are considered for numerical illustration.


Networks ◽  
2009 ◽  
Vol 54 (2) ◽  
pp. 99-107 ◽  
Author(s):  
F.T. Boesch ◽  
A. Satyanarayana ◽  
C.L. Suffel

2009 ◽  
Author(s):  
Ronald Laurids Boring ◽  
Johanna Oxstrand ◽  
Michael Hildebrandt

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