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

F.A. Lara-Molina; E.H. Koroishi; Didier Dumur; V. Steffen

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

F.A. Lara-Molina ¹ E.H. Koroishi ¹ Didier Dumur ² V. Steffen ¹

1 LMSt

2 L2S - Laboratoire des signaux et systèmes

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.

Keywords : Robotic manipulators Robot dynamics Uncertainty Sensitivity analysis Random variables

Document type :

Conference papers

Domain :

Engineering Sciences [physics]

Engineering Sciences [physics] / Automatic

Complete list of metadatas

https://hal-centralesupelec.archives-ouvertes.fr/hal-01258959
Contributor : Pascale Lepeltier <>
Submitted on : Tuesday, January 19, 2016 - 4:50:10 PM
Last modification on : Tuesday, January 22, 2019 - 12:12:02 PM

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

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

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