A statistical approach to the analysis and design of robot manipulators

Abstract

A new approach the the analysis and design of robot manipulators is announced. The novel feature resides on a non standard approach to the modelling problem. Usually, system descriptions are based on a set of differential equations which, due to their nature lead to very precise results and strategies but, can be very complex to tackle. This motivates the need of models based on other mathematical comcepts having distinct characteristics. The proposed statistical scheme is a step in that direction which gives clear guidelines towards the robot kinematic and dynamic optimization. Furthermore, the inherent use of histograms allows not only fast calculation procedures, but above all, the use of experimental data; consequently, complex dynamic modelling exercises can be avoided.