Interval Analysis and Reliability in Robotics
نویسنده
چکیده
A robot is typical of systems that are inherently submitted to uncertainties although they should be highly reliable (i.e. for a robot used in surgical applications). The sources of uncertainties are the manufacturing tolerances of the mechanical parts constituting the robot which make the real robot always different from its theoretical model and control errors. We exhibit properties of a robot that are sensitive to the uncertainties and we present methods, using mainly interval analysis, that allow one to manage these uncertainties to ensure the reliability of the robot.
منابع مشابه
Interval methods for fault-tree analysis in robotics
Conclusions This paper describes a novel technique, based on interval methods, for the estimation of reliability using fault trees. The approach encodes inherent uncertainty in the input data by modeling this data in terms of intervals. Appropriate interval arithmetic is then used to propagate the data through standard fault trees to generate output distributions which reflect the uncertainty i...
متن کاملDesign and Kinematic Analysis of a 4-DOF Serial-Parallel Manipulator for a Driving Simulator
This paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for large commercial vehicle driving simulators. The degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. Several kinematic properties of parallel part of the mechanism under study are investigated, including the inve...
متن کاملModeling of Epistemic Uncertainty in Reliability Analysis of Structures Using a Robust Genetic Algorithm
In this paper the fuzzy structural reliability index was determined through modeling epistemic uncertainty arising from ambiguity in statistical parameters of random variables. The First Order Reliability Method (FORM) has been used and a robust genetic algorithm in the alpha level optimization method has been proposed for the determination of the fuzzy reliability index. The sensitivity level ...
متن کاملAnalysis of Motion of Micro-Gripper Exposed to the Electric Field and Thermal Stresses for Using in Micro-Robotics
Micro system technology is a relatively new scientific research that deals with the development and study of properties of materials in micro dimensions. Micro-grippers are widely used in switching, positioning, and assembling micron sized components in micro-robotics. In this study, the static and dynamic behavior of visco-elastic Micro-Tweezers under the thermal and electrostatic field is...
متن کاملMonte Carlo Comparison of Approximate Tolerance Intervals for the Poisson Distribution
The problem of finding tolerance intervals receives very much attention of researchers and are widely used in various statistical fields, including biometry, economics, reliability analysis and quality control. Tolerance interval is a random interval that covers a specified proportion of the population with a specified confidence level. In this paper, we compare approximate tolerance interva...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2009