Zero distribution of system with unknown random variables case study: Avoiding collision path
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...
| Main Authors: | Parman, S., MacHmudah, A., Baharom, M.B. |
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| Format: | Conference or Workshop Item |
| Institution: | Universiti Teknologi Petronas |
| Record Id / ISBN-0: | utp-eprints.32283 / |
| Published: |
EDP Sciences
2014
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| Online Access: |
https://www.scopus.com/inward/record.uri?eid=2-s2.0-84904974870&doi=10.1051%2fmatecconf%2f20141301005&partnerID=40&md5=e150f205c654c73ffdf0eb1bb3faada0 http://eprints.utp.edu.my/32283/ |
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| Summary: |
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. © 2014 Owned by the authors, published by EDP Sciences. |
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