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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Muhammed, R. Pac Rakotondrabe, Micky Khadraoui, Sofiane Dan, O. Popa Lutz, Philippe |
| Copyright Year | 2013 |
| Abstract | The paper presents a new methodology for solving the inverse problem of manipulator precision design. Such design problems are often encountered when the end-effector uncertainty bounds are given, but it is not clear how to allocate precision bounds on individual robot axes. The approach presented in this paper uses interval analysis as a tool for uncertainty modelling and computational analysis. In prior work, the exponential formulation of the forward kinematics map was extended to intervals. Here, we use this result as an inclusion function in the computation of solutions to set-valued inverse kinematic problems. Simulation results are presented in two case studies to illustrate how we can go from an uncertainty interval at the end-effector to a design domain of allowable uncertainties at individual joints and links. The proposed method can be used to determine the level of precision needed in the design of a manipulator such that a predefined end-effector precision can be guaranteed. Also, the approach is general as such it can be easily extended to any degree-of-freedom and kinematic configuration. |
| Sponsorship | Design Engineering Division Computers and Information in Engineering Division |
| File Format | |
| ISBN | 9780791855843 |
| DOI | 10.1115/DETC2013-13033 |
| Volume Number | Volume 1: 15th International Conference on Advanced Vehicle Technologies; 10th International Conference on Design Education; 7th International Conference on Micro- and Nanosystems |
| Conference Proceedings | ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2013-08-04 |
| Publisher Place | Portland, Oregon, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Design Uncertainty Degrees of freedom Inverse problems Simulation results Computation Kinematics Manipulators End effectors Modeling Robots |
| Content Type | Text |
| Resource Type | Article |
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