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.
Reliability Based Design Optimization of Robotic System Dynamic Performance
Sae Technical Papers
SAE 2006 World Congress & Exhibition ; 2006
2006-04-03
Aufsatz (Konferenz)
Englisch
Reliability-Based Design Optimization of Robotic System Dynamic Performance
Online Contents | 2007
|Reliability based design optimization of robotic system dynamic performance
Kraftfahrwesen | 2006
|2006-01-0391 Reliability Based Design Optimization of Robotic System Dynamic Performance
British Library Conference Proceedings | 2006
|SAE Technical Papers | 2006
|