A Fuzzy Approach for the Kinematic Reliability Assessment of Robotic Manipulators

SUMMARY This paper aims at developing a novel method to assess the kinematic reliability of robotic manipulators based on fuzzy theory. The quantifies probability obtaining positioning errors within acceptable limits. For this purpose, evaluates effect joint clearances end-effector position compute failure possibility index. As an alternative conventional methods reported in literature, index conveys assessment performance. numerical results are compared with well-known probabilistic approach Monte Carlo simulation.