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A calibration-based method for interval reliability analysis of the multi-manipulator system

Wang Wei, Liu Shuangyao, Wang Jin, Lu Guodong

Eksploatacja i Niezawodność

2022

Vol. 24, no. 1

42--52

The multiple manipulators can construct a special multi-agent system with the distinction that the type can be serial or parallel according to their cooperative way. We proposed a comprehensive method to handle the problem of reliability estimation. The wide and narrow bound method are applied to calculate the interval reliability respectively when multiple manipulators work as the series system. Aims to decrease the system complexity and enhance the dynamic adjustment capability, the base frame calibration technique is presented to convert the series system to a parallel one, naturally the reliability can be improved significantly. A system composed by three manipulators is utilized as an example to illustrate the feasibility of the proposed method.