Reliability-based design optimization of robotic system dynamic performance

被引：5

作者：

Bowling, Alan P. ^{[1
]}

Renaud, John E. ^{[1
]}

Newkirk, Jeremy T. ^{[1
]}

Patel, Neal M. ^{[1
]}

Agarwal, Harish ^{[2
]}

机构：

[1] Univ Notre Dame, Notre Dame, IN 46556 USA

[2] Gen Elect Global Res, New York, NY USA

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

D O I：

10.1109/IROS.2006.281714

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this investigation a robotic system's dynamic performance is optimized for high reliability under uncertainty. The dynamic capability equations (DCE) allow designers to predict the dynamic performance of a robotic system for a particular configuration and reference point on the end-effector (i.e., point design). Here the DCE are used in conjunction with a reliability-based design optimization (RBDO) strategy in order to obtain designs with robust dynamic performance with respect to the end-effector reference point. In this work a unilevel performance measure approach (PMA) is used to perform RBDO. This is important for the reliable design of robotic systems in which a solution to the DCE is required for each constraint call. The method is illustrated on a robot design problem.

引用

页码：3611 / +

页数：3

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