In this article, a novel method for characterizing the exact solution for interval linear systems is presented. In the proposed method, the entries of the interval coefficient matrix and interval right-hand side vector are formulated as linear functions of two or three parameters. The parameter groups for two- and three-parameter cases are identified. The exact solution is characterized using the solution sets corresponding to the parameter groups. The parametric method is then employed in the motion analysis of manipulators considering the uncertainty in kinematic parameters. Example manipulators are used to show the implementation of the method and the effect of uncertainty in the motion performance.
Motion Analysis of Manipulators With Uncertainty in Kinematic Parameters
Manuscript received March 16, 2015; final manuscript received September 6, 2015; published online November 24, 2015. Assoc. Editor: Raffaele Di Gregorio.
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Nazari, V., and Notash, L. (November 24, 2015). "Motion Analysis of Manipulators With Uncertainty in Kinematic Parameters." ASME. J. Mechanisms Robotics. April 2016; 8(2): 021014. https://doi.org/10.1115/1.4031657
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