Motion Reliability Modeling and Evaluation for Manipulator Path Planning Task

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static-preview.hindawi.com/articles/mpe/volume-2015/937565/figures/937565.fig.008a.svgz" name="937565.fig.008a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Errors introduced into <svg height="11.3324pt" id="M192" style="vertical-align:-1.64091pt" version="1.1" viewbox="-0.0498162 -9.69149 20.3893 11.3324" width="20.3893pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M563 442L553 454L479 439C463 404 440 354 416 322H414C389 422 344 454 283 454C151 454 21 310 21 162C21 48 73 -12 135 -12C182 -12 249 19 325 126H327C339 20 368 -12 407 -12C452 -12 507 21 557 110L530 136C508 107 493 92 480 92C462 92 453 123 430 253C459 292 528 386 563 442ZM318 186C290 133 235 76 202 76C175 76 154 108 154 184C154 275 198 406 247 406C288 406 313 294 318 186Z" id="g5-223"></path><glyph.data ascent="3481" descent="-2878" horiz-adv-x="584" vert-adv-y="584"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,7.942,0)"><path d="M95 130C70 130 46 113 46 88C46 72 54 64 59 64C93 55 121 33 121 -3C121 -41 93 -68 44 -88L55 -117C117 -98 186 -56 186 22C186 91 131 130 95 130Z" id="g113-45"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="228" vert-adv-y="228"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,13.302,0)"><path d="M492 495C492 605 449 703 334 703C135 703 21 416 21 218C21 107 47 -12 184 -12C394 -12 492 307 492 495ZM367 550C367 493 360 437 353 395H170C197 528 252 661 315 661C364 661 367 588 367 550ZM344 339C323 195 267 30 198 30C160 30 147 91 147 162C147 223 150 293 159 339H344Z" id="g5-230"></path><glyph.data ascent="3481" descent="-2878" horiz-adv-x="513" vert-adv-y="513"></glyph.data></g></svg></td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/mpe/volume-2015/937565/figures/937565.fig.008b.svgz" name="937565.fig.008b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Errors introduced into <svg height="11.2372pt" id="M193" style="vertical-align:-1.64089pt" version="1.1" viewbox="-0.0498162 -9.59631 19.247 11.2372" width="19.247pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M465 45L455 77C444 72 433 69 421 69C404 69 389 81 389 128V293C389 349 380 392 337 425C310 445 280 454 239 454C182 443 111 409 73 383C51 366 38 353 38 335C38 309 74 285 101 285C121 285 136 293 143 319C151 350 160 374 171 388C180 400 191 406 205 406C241 406 265 371 265 308V278C242 258 165 234 106 212C54 192 30 168 30 116C30 54 81 -12 165 -12C185 -12 232 21 270 46C274 34 281 21 295 9C308 -3 329 -12 356 -12L465 45ZM265 79C249 67 238 63 223 63C200 63 163 84 163 139C163 174 179 192 210 208C231 219 247 229 265 239V79Z" id="g13-95"></path><glyph.data ascent="1024" descent="-360" horiz-adv-x="466" vert-adv-y="466"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,6.313,0)"><path d="M95 130C70 130 46 113 46 88C46 72 54 64 59 64C93 55 121 33 121 -3C121 -41 93 -68 44 -88L55 -117C117 -98 186 -56 186 22C186 91 131 130 95 130Z" id="g113-45"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="228" vert-adv-y="228"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,11.673,0)"><path d="M541 58L519 60C477 65 472 69 472 126V703C421 688 341 674 277 667V636C338 628 344 624 344 570V449C322 452 311 454 303 454C147 454 29 343 29 207C29 58 147 -12 233 -12C244 -12 259 -9 283 6L344 45V-13C423 10 517 22 541 26V58ZM344 80C322 66 307 64 289 64C243 64 171 111 171 234C171 386 248 412 271 412C301 412 328 395 344 360V80Z" id="g13-98"></path><glyph.data ascent="1024" descent="-360" horiz-adv-x="547" vert-adv-y="547"></glyph.data></g></svg></td></tr></table>

<div>Decrease in motion reliability caused by factors with the same error.</div>

Mathematical Problems in Engineering

fig8

Figure 8

Figure 8: Motion Reliability Modeling and Evaluation for Manipulator Path Planning Task 