2018 年 84 巻 2 号 p. 194-200
In this paper, a novel analysis method using polynomial chaos methos is proposed for analyzing the accuracy of the endpoint position of N-DoF manipulators with uncertainty. The effectiveness of the proposed method is verified through an analysis example. The proposed method models a manipulator by using probabilistic models. The endpoint position is expressed as a probabilistic distribution by the modeling. The probabilistic distribution is calculated by polynomial chaos method. From the distribution, a measurement for accuracy of the endpoint position of the manipulator is calculated. To verify the effectiveness of the proposed method, the accuracy of the endpoint position of a double link manipulators with uncertainty in the length of the arms is analyzed by the proposed method. We confirmed that the analysis result by the proposed method is equal to the analytical solution of the manipulator with sufficient accuracy.
