On statistical modelling of mechanical manipulators

Galhano, Alexandra; Tenreiro Machado, J. A.; Carvalho, J. L. Martins de

http://hdl.handle.net/10400.22/13462

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Authors

Galhano, Alexandra

Tenreiro Machado, J. A.

Carvalho, J. L. Martins de

Abstract(s)

A novel approach to the modelling of robot manipulators is presented. System descriptions based on a set of differential equations may lead to very precise results and strategies but, in general, require laborious conputations. This motivates the need of alternative methods based on other mathematical concepts. The proposed statistical model gives clear quidelines towards the robot kinematic and dynamic optimization and the definition of rest and active manipulation regions. Furthermore, the results point out ideal properties for the actuators namely as "position and acceleration" devices instead of "velocity" machines. This observation is of utmost importance as it gives a basis to new mechanical robot manipulator structures, with performances close to biomechanical systems.