Motion Reliability Modeling and Evaluation for Manipulator Path Planning Task

Abstract

Motion reliability as a criterion can reflect the accuracy of manipulator in completing operations. Since path planning task takes a significant role in operations of manipulator, the motion reliability evaluation of path planning task is discussed in the paper. First, a modeling method for motion reliability is proposed by taking factors related to position accuracy of manipulator into account. In the model, multidimensional integral for PDF is carried out to calculate motion reliability. Considering the complex of multidimensional integral, the approach of equivalent extreme value is introduced, with which multidimensional integral is converted into one dimensional integral for convenient calculation. Then a method based on the maximum entropy principle is proposed for model calculation. With the method, the PDF can be obtained efficiently at the state of maximum entropy. As a result, the evaluation of motion reliability can be achieved by one dimensional integral for PDF. Simulations on a particular path planning task are carried out, with which the feasibility and effectiveness of the proposed methods are verified. In addition, the modeling method which takes the factors related to position accuracy into account can represent the contributions of these factors to motion reliability. And the model calculation method can achieve motion reliability evaluation with high precision and efficiency.

On the Relative Kinematics and Control of Dual-Arm Cutting Robots for a Coal Mine

“…The continuity of robot motion is a measure of whether the robot can function properly and achieve smooth continuous movements [32]. This section describes how a random rectangle and random circle in Cartesian space are generated to verify whether the two cutting arms of DACR can achieve continuous motion.…”

Reliability Modeling of Electromechanical System with Meta-Action Chain Methodology

“…System reliability modeling has been widely used in researches in recent years [1][2][3][4][5][6][7]. In the previous research, the failure modes and effects analysis (FMEA) has been often used to determine the criticality and frequency of failure.…”