Reliability-Based Design Optimization of Robotic System Dynamic Performance

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...

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Alan P. Bowling, John E. Renaud, Jeremy T. Newkirk, Neal M. Patel, Harish Agarwal
• Keywords: Dynamic Capability Equations, Dynamic Performance, IROS 2006, Reliability-based Design Optimization, Robotics