In this investigation a robotic system's dynamic performance is optimized for high reliability under uncertainty. The dynamic capability equations allow designers to predict the dynamic performance of a robotic system for a particular configuration (i.e.,point design). While the dynamic capability equations are a powerful tool, they can not account for performance variations due to aleatory uncertainties inherent in the system. To account for the inherent aleatory uncertainties, a reliability-based design optimization (RBDO) strategy is employed to design robotic systems with robust dynamic performance. RBDO has traditionally been implemented as a nested multilevel optimization process in which reliability constraints require solution to an optimization problem (i.e., reliability analysis). In this work a robust unilevel performance measure approach(PMA) is developed for performing reliability-based design optimization which eliminates the lower level problem in RBDO. A robotic test problem is used to illustrate the efficacy of the approach.


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    Titel :

    Reliability Based Design Optimization of Robotic System Dynamic Performance


    Weitere Titelangaben:

    Sae Technical Papers


    Beteiligte:
    Bowling, Alan (Autor:in) / Agarwal, Harish (Autor:in) / Newkirk, Jeremy (Autor:in) / Renaud, John E. (Autor:in) / Patel, Neal M. (Autor:in)

    Kongress:

    SAE 2006 World Congress & Exhibition ; 2006



    Erscheinungsdatum :

    2006-04-03




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch





    Reliability based design optimization of robotic system dynamic performance

    Bowling,A. / Renaud,J.E. / Patel,N.M. et al. | Kraftfahrwesen | 2006


    2006-01-0391 Reliability Based Design Optimization of Robotic System Dynamic Performance

    Bowling, A. / Renaud, J. E. / Patel, N. M. et al. | British Library Conference Proceedings | 2006