Skip to Main content Skip to Navigation
Conference papers

Stochastic Analysis of a 6-DOF Fully Parallel Robot under Uncertain Parameters.

Abstract : This paper aims at analyzing the effect of uncertain parameters on a 6-DOF fully parallel robot performance by using a stochastic approach. The uncertainties of the parameters are considered as small variations with respect to their nominal values modeled by means of random variables. The dynamics of the robot under uncertain structural and dynamic parameters including a computed torque position controller is analyzed. Additionally, a sensitivity analysis allows to determine the degree of influence of each uncertain parameter on the response of the robot. Numerical simulations illustrate the proposed methodology so that the effect of uncertain parameters on the dynamic performance of the robot is properly described.
Document type :
Conference papers
Complete list of metadatas

Cited literature [13 references]  Display  Hide  Download

https://hal-centralesupelec.archives-ouvertes.fr/hal-01258959
Contributor : Pascale Lepeltier <>
Submitted on : Thursday, March 12, 2020 - 11:08:32 AM
Last modification on : Wednesday, September 16, 2020 - 4:47:40 PM
Long-term archiving on: : Saturday, June 13, 2020 - 2:18:30 PM

File

hal-01258959.pdf
Files produced by the author(s)

Identifiers

Citation

F.A. Lara-Molina, E.H. Koroishi, Didier Dumur, V. Steffen. Stochastic Analysis of a 6-DOF Fully Parallel Robot under Uncertain Parameters.. 11th IFAC Symposium on Robot Control SYROCO 2015, Aug 2015, Salvador, Brazil. pp.214-219, ⟨10.1016/j.ifacol.2015.12.036⟩. ⟨hal-01258959⟩

Share

Metrics

Record views

172

Files downloads

157