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
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;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2008.2006871
