Confidence Interval Analysis of Dynamic Performance of 3RRR Manipulator Considering Parameters with Geometric Uncertainty
Renzo Fernandes Bastos1; João Vitor de Carvalho Fontes1; João Cavalcanti Santos1; Maíra Martins da Silva1
1 Universidade de São Paulo
doi:10.20906/CPS/CON-2016-1348
Resumo
Uncertain geometry may have great influence on the performance of the kinematic and dynamic of robotic manipulators. Following statistical concepts, one can make intelligent judgments and right decisions when a system presents uncertainties and variations. In robotics, statistical methods can be used to evaluate the error caused by manufacturing processes of robotic components. In this paper, considering the tolerance of manufacturing processes, a normal distribution was considered in order to evaluate the impact of uncertainties on the parameters of the manipulator 3RRR. This impact will be assessed by modeling the direct and inverse kinematic and dynamic models of the manipulator 3RRR, considering the confidence interval of 95% of the proposed parameters. This analysis will be performed using MATLAB®. Using this technique, it is possible to calculate a reliable range of efforts that the manipulator is subject to perform the desired task.
Palavras-chave: parallel kinematic manipulator; confidence interval; kinematic and dynamic analysis; geometric uncertainty