%0 Journal Article
%T A moment estimation¨Cbased method for the path planning of manipulators with kinematic system reliability constraints
%A Guodong Lu
%A Jianhui Fu
%A Jin Wang
%A Wei Wang
%J Advances in Mechanical Engineering
%@ 1687-8140
%D 2019
%R 10.1177/1687814018816894
%X Since the path planning plays a significant role in the manipulator¡¯s control, the system reliability evaluation and optimization for path planning are studied with consideration of the joint clearance. A simple moment estimation¨Cbased method is proposed; a linear performance function is first established using the extreme value distribution theory. Based on the maximum entropy principle, the first four moments of variables are utilized to derive a best-fit probability density function to feature the characteristics of the system distribution rather than an empirical assumption of the normality. To meet the system reliability criterion constraints, a sensitivity analysis is conducted using the direct linearization method. With modification in the tolerance of sensitive parameters, the reliability can be improved efficiently. Traditional methods, such as the first-order second moment method, the first-order reliability method, and Monte Carlo simulation, are popular in this research field and therefore they are applied as benchmark methods for comprehensive comparisons in the accuracy and efficiency. A typical serial manipulator is applied as an example to validate the feasibility of our proposed method
%K Path planning
%K first four moments
%K maximum entropy principle
%K parameter sensitivity
%K direct linearization method
%U https://journals.sagepub.com/doi/full/10.1177/1687814018816894