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Dynamic Performance of a SCARA Robot Manipulator With Uncertainty Using Polynomial Chaos Theory

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3 Author(s)
Philip Voglewede ; Mech. Eng. Dept., Marquette Univ., Milwaukee, WI ; Anton H. C. Smith ; Antonello Monti

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.

Published in:

IEEE Transactions on Robotics  (Volume:25 ,  Issue: 1 )