Matrix-Based Characterization of the Motion and Wrench Uncertainties in Robotic Manipulators
Javad Sovizi,
Sonjoy Das,
Venkat Krovi
Abstract:Characterization of the uncertainty in robotic manipulators is the focus of this paper. Based on the random matrix theory (RMT), we propose uncertainty characterization schemes in which the uncertainty is modeled at the macro (system) level. This is different from the traditional approaches that model the uncertainty in the parametric space of micro (state) level. We show that perturbing the system matrices rather than the state of the system provides unique advantages especially for robotic manipulators. Firs… Show more
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