MATEC Web of Conferences
Volume 13, 2014ICPER 2014 - 4th International Conference on Production, Energy and Reliability
|Number of page(s)||5|
|Section||Automation and Advanced Manufacturing|
|Published online||17 July 2014|
Zero Distribution of System with Unknown Random Variables Case Study: Avoiding Collision Path
Universiti Teknologi PETRONAS, Mechanical Engineering Department, Bandar Seri Iskandar, Tronoh, Perak, Malaysia
a Corresponding author : firstname.lastname@example.org
This paper presents the stochastic analysis of finding the feasible trajectories of robotics arm motion at obstacle surrounding. Unknown variables are coefficients of polynomials joint angle so that the collision-free motion is achieved. ãk is matrix consisting of these unknown feasible polynomial coefficients. The pattern of feasible polynomial in the obstacle environment shows as random. This paper proposes to model the pattern of this randomness values using random polynomial with unknown variables as coefficients. The behavior of the system will be obtained from zero distribution as the characteristic of such random polynomial. Results show that the pattern of random polynomial of avoiding collision can be constructed from zero distribution. Zero distribution is like building block of the system with obstacles as uncertainty factor. By scale factor k, which has range, the random coefficient pattern can be predicted.
© Owned by the authors, published by EDP Sciences, 2014
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 2.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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