Set-Point Regulation of a Robot Manipulator with Flexible Joints Using Fuzzy Control

Koroishi

2016 12th IEEE International Conference on Industry Applications (INDUSCON)

2016

Design criteria of the parallel robots are required in order to perform the optimal design. This paper aims at proposing optimal design criteria for a planar parallel robot with flexible joints. Consequently, dynamic and elastodynamic criteria are examined with the purpose of analyzing their behavior as a function of the design variables that are the lengths of the links of the robot. The dynamic and elastodynamic design criteria are evaluated numerically.

Section: Resultsmentioning

confidence: 99%

Design criteria of 2-DOF planar parallel manipulator with flexible joints

Koroishi

2016 12th IEEE International Conference on Industry Applications (INDUSCON)

2016

“… was defined in [18]. The geometric and dynamic proprieties of the maipulator are defined in tha appendix.…”

Section: B 5r Planar Parallel Manipulatormentioning

confidence: 99%

Global Elastodynamic Performance Criterion of Manipulators with Flexible Joints

2022 Latin American Robotics Symposium (LARS), 2022 Brazilian Symposium on Robotics (SBR), and 2022 Workshop on Robotics in Edu

2022

This paper proposes a novel design criterion for manipulators with flexible joints based on elastodynamic performance. Consequently, the elastodynamic performance is assessed; the eigenvalue problem is solved to determine the first natural frequency based on the manipulator's inertia and stiffness matrices. Then, the elastodynamic criterion is evaluated within a region of the Cartesian workspace in order to obtain a global measure. The global elastodynamic performance of a planar serial manipulator and a planar parallel manipulator with flexible joints were obtained. The numerical results show a high dependency of the elastodynamic performance on the configuration and geometric parameters of the manipulator.

“…Based on the fuzzy approach, a new index is formulated to evaluate the possibility that the positioning error exceeds an acceptable limit; the kinematic possibility is assessed by considering the maximum error, differently of the probability of failure that is related to how likely the error exceeds the acceptable limit. The fuzzy theory has successfully applied to control of robotic manipulators [18][19][20].…”

Section: Introductionmentioning

confidence: 99%

“…The fuzzy theory has been successfully applied to the control of robotic manipulators. [16][17][18] The present contribution proposes a novel method to assess the kinematic reliability of robotic manipulator based on the fuzzy theory. First, the clearance model with uncertain parameters is presented based on the axisymmetric joint model with uncertain parameters modeled as fuzzy variables.…”

Section: Introductionmentioning

confidence: 99%

A Fuzzy Approach for the Kinematic Reliability Assessment of Robotic Manipulators

2021

Robotica

SUMMARY This paper aims at developing a novel method to assess the kinematic reliability of robotic manipulators based on the fuzzy theory. The kinematic reliability quantifies the probability of obtaining positioning errors within acceptable limits. For this purpose, the fuzzy reliability evaluates the effect of the joint clearances on the end-effector position to compute a failure possibility index. As an alternative to the conventional methods reported in the literature, this failure possibility index conveys a novel assessment of the kinematic performance. The numerical results are compared with the well-known probabilistic approach based on the Monte Carlo simulation.