Interval analysis and reliability in robotics. (29th June 2009)

• Record Type: Journal Article
• Authors: Merlet, Jean-Pierre
• Is Part Of: International journal of reliability and safety. Volume 3:Number 1/2/3(2009)
• Page Start: 104
• Page End: 130
• Publication Date: 2009-06-29
• Subjects: interval analysis -- robotics -- robot reliability -- uncertainty -- manufacturing tolerances; Reliability (Engineering) -- Periodicals; Industrial safety -- Periodicals; 620.00452
• Languages: English
• ISSNs: 1479-389X

Abstract

A robot is typical of systems that are inherently submitted to uncertainties although they should be highly reliable (i.e. for a robot used in surgical applications). The sources of uncertainties are the manufacturing tolerances of the mechanical parts constituting the robot which make the real robot always different from its theoretical model and control errors. We exhibit properties of a robot that are sensitive to the uncertainties and we present methods, using mainly interval analysis, that allow one to manage these uncertainties to ensure the reliability of the robot.