Dynamic Performance of a SCARA Robot Manipulator With Uncertainty Using Polynomial Chaos Theory

Dynamic Performance of a SCARA Robot Manipulator With Uncertainty Using Polynomial Chaos Theory

This short paper outlines how polynomial chaos theory (PCT) can be utilized for manipulator dynamic analysis and controller design in a 4-DOF selective compliance assembly robot-arm-type manipulator with variation in both the link masses and payload. It includes a simple linear control algorithm int...

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Veröffentlicht in:IEEE transactions on robotics 2009-02, Vol.25 (1), p.206-210
Hauptverfasser: Voglewede, P., Smith, A.H.C., Monti, A.
Format: Artikel
Sprache:eng
Schlagworte:
Algorithms
Applied sciences
Automation
Chaos
Chaos theory
Computational modeling
Computer science
control theory
systems
Control system synthesis
Control theory. Systems
Differential equations
Drives
Dynamics
Exact sciences and technology
Linkage mechanisms, cams
Manipulator dynamics
Manipulators
Manufacturing
Manufacturing engineering
Mechanical engineering. Machine design
Monte Carlo methods
Payloads
Polynomials
Robot arms
robot dynamics
Robotic assembly
Robotics
Robots
Uncertainty
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Beschreibung
Zusammenfassung:This short paper outlines how polynomial chaos theory (PCT) can be utilized for manipulator dynamic analysis and controller design in a 4-DOF selective compliance assembly robot-arm-type manipulator with variation in both the link masses and payload. It includes a simple linear control algorithm into the formulation to show the capability of the PCT framework.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2008.2006871