On the analysis and design of robot manipulators: A statistical approach

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

http://hdl.handle.net/10400.22/13142

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Authors

Galhano, Alexandra

Tenreiro Machado, J. A.

Carvalho, J. L. Martins de

Abstract(s)

A new approach to the analysis and design of robot manipulators is presented. The novel feature resides on a non-standard approach to the modelling problem. Usually, system descriptions are based on a set of differential equations which, due to their nautre lead to very precise results and strategies but in general lead to laborious computations. This motivates the need of alternative models based on other mathematical concepts. The proposed statistical method is a step in this direction which gives clear guidelines towards the robot kinematic and dynamic optimization. Furthermore, the use of histograms allows not only fast design procedures but above all, the use of experiemental data; consequently, complex dynamic modelling exercises can be avoided.