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2006
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Reliability-Based Design Optimization of Robotic System Dynamic Performance

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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...
Alan P. Bowling, John E. Renaud, Jeremy T. Newkirk
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Alan P. Bowling, John E. Renaud, Jeremy T. Newkirk, Neal M. Patel, Harish Agarwal
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