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• W2914748659 abstract "Since the path planning plays a significant role in the manipulator’s control, the system reliability evaluation and optimization for path planning are studied with consideration of the joint clearance. A simple moment estimation–based method is proposed; a linear performance function is first established using the extreme value distribution theory. Based on the maximum entropy principle, the first four moments of variables are utilized to derive a best-fit probability density function to feature the characteristics of the system distribution rather than an empirical assumption of the normality. To meet the system reliability criterion constraints, a sensitivity analysis is conducted using the direct linearization method. With modification in the tolerance of sensitive parameters, the reliability can be improved efficiently. Traditional methods, such as the first-order second moment method, the first-order reliability method, and Monte Carlo simulation, are popular in this research field and therefore they are applied as benchmark methods for comprehensive comparisons in the accuracy and efficiency. A typical serial manipulator is applied as an example to validate the feasibility of our proposed method." @default.
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• W2914748659 date "2019-01-01" @default.
• W2914748659 modified "2023-09-25" @default.
• W2914748659 title "A moment estimation–based method for the path planning of manipulators with kinematic system reliability constraints" @default.
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• W2914748659 doi "https://doi.org/10.1177/1687814018816894" @default.
• W2914748659 hasPublicationYear "2019" @default.
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