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A Fuzzy Approach for the Kinematic Reliability Assessment of Robotic Manipulators

Published online by Cambridge University Press:  05 March 2021

Fabian A. Lara-Molina Open the ORCID record for Fabian A. Lara-Molina [Opens in a new window]  and
Didier Dumur
Fabian A. Lara-Molina*
Affiliation:
Federal University of Technology - Paraná, Cornélio Procópio, PR86300-00Brazil
Didier Dumur
Affiliation:
Universit Paris-Saclay, CNRS, CentraleSuplec, Laboratoire des Signaux et Systèmes, 91 192 Gif sur Yvette cedex, France
*
*Corresponding author. E-mail: fabianmolina@utfpr.edu.br
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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.

Keywords

KinematicsManipulatorFuzzyUncertaintiesClearances
Type
Article
Information
Robotica , Volume 39 , Issue 12 , December 2021 , pp. 2095 - 2109
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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