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Advances on Theory and Practice of Robots and Manipulators pp 9–17Cite as

Parametric Method for Motion Analysis of Manipulators with Uncertainty in Kinematic Parameters

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 22))

Abstract

In this paper, the motion performance of manipulators considering the uncertainty in the kinematic parameters is investigated. Interval analysis is employed to deal with the uncertainty in the kinematic parameters in the form of small uncertainty boxes. For a given range of uncertainties in the kinematic parameters, the interval linear equations are formulated to relate the velocity of joints to the end effector velocity with the Jacobian matrix. A novel approach for calculating the exact size and shape of the solution for the system of interval linear equations is presented. A 2 degrees of freedom planar serial manipulator is used as a case study to analyze the motion performance of the manipulator in the presence of uncertainties.

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Author information

Authors and Affiliations

  1. Department of Mechanical and Materials Engineering, Queen’s University, Kingston, Canada

    Vahid Nazari & Leila Notash

Authors
  1. Vahid Nazari
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  2. Leila Notash
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Correspondence to Vahid Nazari .

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Editors and Affiliations

  1. Laboratory of Robotics & Mechatronics LARM, University of Cassino and South Latium, Cassino, Italy

    Marco Ceccarelli

  2. Mechanical Engineering Research Institute, RAS, Moscow, Russia

    Victor A. Glazunov

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Nazari, V., Notash, L. (2014). Parametric Method for Motion Analysis of Manipulators with Uncertainty in Kinematic Parameters. In: Ceccarelli, M., Glazunov, V. (eds) Advances on Theory and Practice of Robots and Manipulators. Mechanisms and Machine Science, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-319-07058-2_2

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  • DOI: https://doi.org/10.1007/978-3-319-07058-2_2

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-07057-5

  • Online ISBN: 978-3-319-07058-2

  • eBook Packages: EngineeringEngineering (R0)

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