Dynamic performance of a SCARA robot manipnlator with uncertainty using polynomial Chaos theory

Authors:
Philip Voglewede;Anton H. C. Smith;Antonello Monti
Affiliations:
Mechanical Engineering Department, Marquette University, Milwaukee, WI;Electrical Engineering Department, University of South Carolina, Columbia, SC;Institute for Automation of Complex Power Systems, EON Energy Research Center, Rhenish-Westphalian Technical University Aachen, Aachen, Germany
Venue:
IEEE Transactions on Robotics
Year:
2009

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Abstract

This short paper outlines how polynomial chaos theory (PCT) can be utilized for manipulator dynamic analysis and controller design in a 4-DOF selective compliance assembly robot-arm-type manipulator with variation in both the link masses and payload. It includes a simple linear control algorithm into the formulation to show the capability of the PCT framework.