Reliability in Robotics and Intelligent Systems: Mathematical Modeling and Algorithmic Innovations; Mathematics; Vol. 14, iss. 3

Reliability in Robotics and Intelligent Systems: Mathematical Modeling and Algorithmic Innovations

Bibliografski detalji
Parent link:Mathematics.— .— Basel: MDPI AG
Vol. 14, iss. 3.— 2026.— Article number 580, 54 p.
Daljnji autori: Issametova M. Madina, Martyushev N. V. Nikita Vladimirovich, Malozemov B. V. Boris Vitaljevich, Demin A. Yu. Anton Yurievich, Pogrebnoy A. V. Aleksandr Vladimirovich, Kuleshova E. E. Elizaveta Evgenjevna, Valuev D. V. Denis Viktorovich
Sažetak: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
Jezik:engleski
Izdano: 2026
Teme:
industrial robotics
geometric reliability
probabilistic modeling
robot kinematics
Monte Carlo method
FANUC
Denavit–Hartenberg parameters
positioning accuracy
электронный ресурс
труды учёных ТПУ
Online pristup:https://doi.org/10.3390/math14030580
Format: Elektronički Poglavlje knjige
KOHA link:https://koha.lib.tpu.ru/cgi-bin/koha/opac-detail.pl?biblionumber=685385

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