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RESEARCH PAPERS

Prediction of Stationary Response of Robot Manipulators Under Stochastic Base and External Excitations—Statistical Linearization Approach

[+] Author and Article Information
R. J. Chang

National Cheng Kung University, Tainan, Taiwan 70101

G. E. Young

School of Mechanical and Aerospace Engineering, Oklahoma State University, Stillwater, OK 74078

J. Dyn. Sys., Meas., Control 111(3), 426-432 (Sep 01, 1989) (7 pages) doi:10.1115/1.3153071 History: Received August 01, 1987; Revised May 01, 1988; Online July 21, 2009

Abstract

The Lagrangian dynamic equation and statistical linearization for an n-dimensional manipulator subjected to both stochastic base and external excitations and geometric constraints in states are derived. The effects of utilizing a truncated Gaussian density in the linearization due to the geometry constraints are justified. The non-Gaussian effects due to the stochastic base excitation are also quantified to justify the accuracy in the prediction of the stationary output variances. Two examples of robot manipulators are selected to illustrate the accuracy of predicted variances by the linearization techniques.

Copyright © 1989 by ASME
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