Reliability analysis and synthesis of robot manipulators

Reliability Analysis of Robot Manipulators

13th Design Automation Conference: Volume 2 — Robotics, Mechanisms, and Machine Systems ◽

10.1115/detc1987-0062 ◽

1987 ◽

Author(s):

P. K. Bhatti ◽

S. S. Rao

Keyword(s):

Reliability Analysis ◽

Robot Manipulators ◽

Probabilistic Approach ◽

Geometric Parameters ◽

Robot Kinematics ◽

Numerical Illustration ◽

Accuracy And Repeatability

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.

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Analysis and Synthesis of Global Nonlinear H∞ Controller for Robot Manipulators

Mathematical Problems in Engineering ◽

10.1155/2015/410873 ◽

2015 ◽

Vol 2015 ◽

pp. 1-9 ◽

Cited By ~ 5

Author(s):

Carlos Alberto Chavez Guzmán ◽

Luis Tupak Aguilar Bustos ◽

Jován Oseas Mérida Rubio

Keyword(s):

Lyapunov Function ◽

Degrees Of Freedom ◽

Gravitational Force ◽

Robot Manipulator ◽

Robot Manipulators ◽

Global Asymptotical Stability ◽

Simulation Studies ◽

External Disturbances ◽

Analysis And Synthesis ◽

Force Compensation

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.

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Reliability Analysis of Robot Manipulators

Journal of Mechanisms Transmissions and Automation in Design ◽

10.1115/1.3258923 ◽

1988 ◽

Vol 110 (2) ◽

pp. 175-181 ◽

Cited By ~ 30

Author(s):

P. K. Bhatti ◽

S. S. Rao

Keyword(s):

Reliability Analysis ◽

Robot Manipulators ◽

Probabilistic Approach ◽

Geometric Parameters ◽

Robot Kinematics ◽

Numerical Illustration ◽

Accuracy And Repeatability

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.

Download Full-text