SUMMARYThis paper aims at developing a novel method to assess the kinematic reliability of robotic manipulators based on the fuzzy theory. The kinematic reliability quantifies the probability of obtaining positioning errors within acceptable limits. For this purpose, the fuzzy reliability evaluates the effect of the joint clearances on the end-effector position to compute a failure possibility index. As an alternative to the conventional methods reported in the literature, this failure possibility index conveys a novel assessment of the kinematic performance. The numerical results are compared with the well-known probabilistic approach based on the Monte Carlo simulation.

中文翻译：

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一种机器人机械手运动学可靠性评估的模糊方法

摘要本文旨在开发一种基于模糊理论的机器人机械手运动学可靠性评估新方法。运动学可靠性量化了在可接受范围内获得定位误差的概率。为此，模糊可靠性评估关节间隙对末端执行器位置的影响，以计算故障可能性指数。作为文献中报道的传统方法的替代方法，该故障可能性指数传达了对运动性能的新评估。数值结果与著名的基于蒙特卡罗模拟的概率方法进行了比较。