Uncertainty analysis of a 2-DOF planar parallel robot by means of fuzzy dynamic approach

Fabian Andres Lara-Molina , Didier Dumur (1) , E.H. Koroishi

1 L2S - Laboratoire des signaux et systèmes

This paper aims at analyzing the effect of uncertain friction in the active joints of a 2-DOF planar parallel robot using a fuzzy dynamic approach. The uncertain parameters of friction are modeled as fuzzy variables and the dynamic response of the robot is computed by using fuzzy dynamic analysis. The dynamics of the robot under uncertain friction including a computed torque position controller is analyzed. Numerical simulations illustrate the proposed methodology in order to describe and quantify the effect of uncertain frictions on the dynamic performance of the parallel robot.

Domains: Engineering Sciences [physics]

Fabian Andres Lara-Molina, Didier Dumur, E.H. Koroishi. Uncertainty analysis of a 2-DOF planar parallel robot by means of fuzzy dynamic approach. Proceedings 13th Latin American Robotics Symposium and 4th Brazilian Symposium on Robotics LARS/SBR, Oct 2016, Recife, Brazil. pp. 275-280, ⟨10.1109/LARS-SBR.2016.53⟩. ⟨hal-01644758⟩