Reliability in Robotics and Intelligent Systems: Mathematical Modeling and Algorithmic Innovations
| Parent link: | Mathematics.— .— Basel: MDPI AG Vol. 14, iss. 3.— 2026.— Article number 580, 54 p. |
|---|---|
| Andre forfattere: | , , , , , , |
| Summary: | Title screen The rapid development of digital manufacturing and robotic systems places increased demands on the accuracy and reliability of industrial manipulators. Traditional time-based reliability metrics do not reflect the robot’s ability to consistently achieve the desired position and orientation within process tolerances or the probability of the end-effector falling into a given area of permissible poses. The proposed framework integrates a deterministic kinematic model, a stochastic representation of Denavit–Hartenberg parameters and control variables, analytical methods for estimating probabilities, and numerical modeling using the Monte Carlo method. The methodology has been tested on the widely used industrial robot FANUC LR Mate 200iD/7L. The results demonstrate a significant dependence of geometric reliability on the kinematic configuration of the manipulator, with maximum reliability in compact poses and a significant reduction in elongated configurations near singularities. Comprehensive validation was carried out, including numerical experiments on a planar prototype, high-precision physical measurements on a real robot and analysis of operational data, which confirmed the adequacy of the proposed model. The developed approach provides a powerful tool for designing, optimizing and predicting the reliability of robotic cells in high-precision automation environments Текстовый файл |
| Sprog: | engelsk |
| Udgivet: |
2026
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| Fag: | |
| Online adgang: | https://doi.org/10.3390/math14030580 |
| Format: | Electronisk Book Chapter |
| KOHA link: | https://koha.lib.tpu.ru/cgi-bin/koha/opac-detail.pl?biblionumber=685385 |
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| 200 | 1 | |a Reliability in Robotics and Intelligent Systems: Mathematical Modeling and Algorithmic Innovations |f M. Issametova, N. V. Martyushev, B. V. Malozyomov [et al.] | |
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| 300 | |a Title screen | ||
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| 330 | |a The rapid development of digital manufacturing and robotic systems places increased demands on the accuracy and reliability of industrial manipulators. Traditional time-based reliability metrics do not reflect the robot’s ability to consistently achieve the desired position and orientation within process tolerances or the probability of the end-effector falling into a given area of permissible poses. The proposed framework integrates a deterministic kinematic model, a stochastic representation of Denavit–Hartenberg parameters and control variables, analytical methods for estimating probabilities, and numerical modeling using the Monte Carlo method. The methodology has been tested on the widely used industrial robot FANUC LR Mate 200iD/7L. The results demonstrate a significant dependence of geometric reliability on the kinematic configuration of the manipulator, with maximum reliability in compact poses and a significant reduction in elongated configurations near singularities. Comprehensive validation was carried out, including numerical experiments on a planar prototype, high-precision physical measurements on a real robot and analysis of operational data, which confirmed the adequacy of the proposed model. The developed approach provides a powerful tool for designing, optimizing and predicting the reliability of robotic cells in high-precision automation environments | ||
| 336 | |a Текстовый файл | ||
| 461 | 1 | |t Mathematics |c Basel |n MDPI AG | |
| 463 | 1 | |t Vol. 14, iss. 3 |v Article number 580, 54 p. |d 2026 | |
| 610 | 1 | |a industrial robotics | |
| 610 | 1 | |a geometric reliability | |
| 610 | 1 | |a probabilistic modeling | |
| 610 | 1 | |a robot kinematics | |
| 610 | 1 | |a Monte Carlo method | |
| 610 | 1 | |a FANUC | |
| 610 | 1 | |a Denavit–Hartenberg parameters | |
| 610 | 1 | |a positioning accuracy | |
| 610 | 1 | |a электронный ресурс | |
| 610 | 1 | |a труды учёных ТПУ | |
| 701 | 1 | |a Issametova |b M. |g Madina | |
| 701 | 1 | |a Martyushev |b N. V. |c specialist in the field of material science |c Associate Professor of Tomsk Polytechnic University, Candidate of technical sciences |f 1981- |g Nikita Vladimirovich |9 16754 | |
| 701 | 1 | |a Malozemov |b B. V. |g Boris Vitaljevich | |
| 701 | 1 | |a Demin |b A. Yu. |c specialist in the field of Informatics and computer engineering |c Associate Professor of Tomsk Polytechnic University, candidate of technical sciences |f 1973- |g Anton Yurievich |9 17327 | |
| 701 | 1 | |a Pogrebnoy |b A. V. |c specialist in the field of Informatics and computer engineering |c Associate Professor of Tomsk Polytechnic University, candidate of technical sciences |f 1973- |g Aleksandr Vladimirovich |9 17310 | |
| 701 | 1 | |a Kuleshova |b E. E. |g Elizaveta Evgenjevna | |
| 701 | 1 | |a Valuev |b D. V. |c specialist in the field of metal working |c Associate Professor of Yurga technological Institute of Tomsk Polytechnic University, Candidate of technical sciences |f 1980- |g Denis Viktorovich |9 16748 | |
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