Title :
On the statistical modelling of robot manipulators
Author :
Galhano, Alexandra M S F ; Martins de Carvalho, J.L. ; Machado, J. A Tenreiro
Author_Institution :
Dept. of Electr. & Comput. Eng., Porto Univ., Portugal
Abstract :
An approach to the modeling of robot manipulators is presented. Usually, system descriptions are based on a set of differential equations which, due to their nature, lead to very precise results and strategies but, in general, require laborious computations. This motivates the need of alternative methods based on other mathematical concepts. The proposed statistical model gives clear guidelines toward the optimization of robot performances
Keywords :
industrial robots; statistical analysis; optimization; robot manipulators; statistical modelling; Acceleration; Actuators; Differential equations; Input variables; Jacobian matrices; Kinematics; Manipulator dynamics; Nonlinear equations; Orbital robotics; Robots;
Conference_Titel :
Circuits and Systems, 1990., Proceedings of the 33rd Midwest Symposium on
Conference_Location :
Calgary, Alta.
Print_ISBN :
0-7803-0081-5
DOI :
10.1109/MWSCAS.1990.140878
