Motion reliability modeling and evaluation for manipulator path planning task

DOI10.1155/2015/937565MaRDI QIDQ1667007zbMATH OpenOpenAlexWikidataFDO

Authors Tong Li, Qing-Xuan Jia, Gang Chen, Han-Xu Sun

Publication date 27 August 2018

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 3.0 Unported

Full work available at URL https://doi.org/10.1155/2015/937565

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Reliability, availability, maintenance, inspection in operations research (90B25)

Review text

Summary: Motion reliability as a criterion can reflect the accuracy of manipulator in completing operations. Since path planning task takes a significant role in operations of manipulator, the motion reliability evaluation of path planning task is discussed in the paper. First, a modeling method for motion reliability is proposed by taking factors related to position accuracy of manipulator into account. In the model, multidimensional integral for PDF is carried out to calculate motion reliability. Considering the complex of multidimensional integral, the approach of equivalent extreme value is introduced, with which multidimensional integral is converted into one dimensional integral for convenient calculation. Then a method based on the maximum entropy principle is proposed for model calculation. With the method, the PDF can be obtained efficiently at the state of maximum entropy. As a result, the evaluation of motion reliability can be achieved by one dimensional integral for PDF. Simulations on a particular path planning task are carried out, with which the feasibility and effectiveness of the proposed methods are verified. In addition, the modeling method which takes the factors related to position accuracy into account can represent the contributions of these factors to motion reliability. And the model calculation method can achieve motion reliability evaluation with high precision and efficiency.

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Cites work

• Maximum Entropy Density Estimation from Fractional Moments
• Motion reliability assessment of robot for trajectory tracking task
• Optimal predictive densities and fractional moments
• Probabilistic approach to system reliability of mechanism with correlated failure models
• Reliability analysis of waste clean-up manipulator using genetic algorithms and fuzzy methodology
• Stochastic approach to kinematic reliability of open-loop mechanism with dimensional tolerance

Cited in

(3)

• Interval motion accuracy reliability analysis of manipulators based on Chebyshev inclusion polynomial
• Motion reliability assessment of robot for trajectory tracking task
• An analytical framework for local and global system kinematic reliability sensitivity of robotic manipulators

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