Title :
Sensitivity to parametric uncertainty in robot impact
Author :
Carreras, Carlos ; Walker, Ian D.
Author_Institution :
Dept. de Ingenieria Electron., Univ. Politecnica de Madrid, Spain
Abstract :
In this paper, we introduce a novel interval-based methodology for evaluating the sensitivity of robot manipulator impacts to variations in manipulator and environmental constraints. The approach is intuitive and straightforward, and simpler to perform than traditional methods. It is illustrated using an example of a three link manipulator
Keywords :
impact (mechanical); manipulator dynamics; sensitivity; uncertain systems; environmental constraints; interval-based methodology; manipulator constraints; parametric uncertainty sensitivity; robot impact; robot manipulator impacts; three link manipulator; Differential equations; Force control; Gaussian distribution; Histograms; Hypercubes; Legged locomotion; Manipulator dynamics; Robot sensing systems; Sampling methods; Uncertainty;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location :
Como
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936752
