In this investigation a robotic system’s dynamic performance is optimized for high reliability under uncertainty. The dynamic capability equations (DCE) allow designers to predict the dynamic performance of a robotic system for a particular configuration and reference point on the end-effector (i.e.,point design). Here the DCE are used in conjunction with a reliability-based design optimization (RBDO) strategy in order to obtain designs with robust dynamic performance with respect to the end-effector reference point and additionally with respect to changing configurations with a fixed operational point. The workspace is characterized to determine the actuator inputs required to achieve a desired level of performance over a chosen percentage of configurations. In this work a unilevel performance measure approach (PMA) is used to perform RBDO. This is important for the reliable design of robotic systems in which a solution to the DCE is required for each constraint call. The method is illustrated on a robot design problem.
Dynamic Performance Analysis of a Robotic System Using Reliability-Based Design Optimization
Master's ThesisAbstract
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Author | Jeremy Thurston Newkirk |
Advisor | Dr. John Renaud |
Contributor | Dr. John Renaud, Committee Member |
Contributor | Dr. Michael Stanisic, Committee Member |
Degree Level | Master's Thesis |
Degree Discipline | Aerospace and Mechanical Engineering |
Degree Name | MSME |
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Submission Date | 2007-12-05 |
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Record Visibility | Public |
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