DocumentCode
1065041
Title
Dynamic Performance of a SCARA Robot Manipulator With Uncertainty Using Polynomial Chaos Theory
Author
Voglewede, Philip ; Smith, Anton H C ; Monti, Antonello
Author_Institution
Mech. Eng. Dept., Marquette Univ., Milwaukee, WI
Volume
25
Issue
1
fYear
2009
Firstpage
206
Lastpage
210
Abstract
This short paper outlines how polynomial chaos theory (PCT) can be utilized for manipulator dynamic analysis and controller design in a 4-DOF selective compliance assembly robot-arm-type manipulator with variation in both the link masses and payload. It includes a simple linear control algorithm into the formulation to show the capability of the PCT framework.
Keywords
chaos; control system analysis; control system synthesis; industrial manipulators; linear systems; manipulator dynamics; nonlinear control systems; polynomials; robotic assembly; uncertain systems; 4-DOF selective compliance assembly robot-arm; SCARA robot manipulator dynamic analysis; linear control algorithm; manipulator controller design; polynomial chaos theory; uncertain system; Monte Carlo methods; polynomials; robot dynamics; uncertainty;
fLanguage
English
Journal_Title
Robotics, IEEE Transactions on
Publisher
ieee
ISSN
1552-3098
Type
jour
DOI
10.1109/TRO.2008.2006871
Filename
4749296
Link To Document