Guaranteed manipulator precision via interval analysis of inverse kinematics.Reportar como inadecuado

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1 Department of Electrical Engineering - Next Generation Systems Group - University of Texas at Arlington 2 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies 3 Texas A&M University at Qatar

Abstract : The paper presents a new methodology for solving the inverse problem of manipulator precision design. Such design problems are often encountered when the end-effector uncertainty bounds are given, but it is not clear how to allocate precision bounds on individual robot axes. The approach presented in this paper uses interval analysis as a tool for uncertainty modeling and computational analysis. In prior work, the exponential formulation of the forward kinematics map was extended to intervals. Here, we use this result as an inclusion function in the computation of solutions to set-valued inverse kinematic problems. Simulation results are presented in two case studies to illustrate how we can go from an uncertainty interval at the end-effector to a design domain of allowable uncertainties at individual joints and links. The proposed method can be used to determine the level of precision needed in the design of a manipulator such that a predefined end-effector precision can be guaranteed. Also, the approach is general as such it can be easily extended to any degree-of-freedom and kinematic configuration.

Autor: Muhammed R. Pac - Micky Rakotondrabe - Sofiane Khadraoui - Dan O. Popa - Philippe Lutz -



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