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Babazadeh, Hadiseh, Nabati, Parisa. (1403). Numerical simulation of two link robotic manipulator with white and colored noise. سامانه مدیریت نشریات علمی, 12(1), 149-158. doi: 10.22034/cmde.2023.54929.2283
Hadiseh Babazadeh; Parisa Nabati. "Numerical simulation of two link robotic manipulator with white and colored noise". سامانه مدیریت نشریات علمی, 12, 1, 1403, 149-158. doi: 10.22034/cmde.2023.54929.2283
Babazadeh, Hadiseh, Nabati, Parisa. (1403). 'Numerical simulation of two link robotic manipulator with white and colored noise', سامانه مدیریت نشریات علمی, 12(1), pp. 149-158. doi: 10.22034/cmde.2023.54929.2283
Babazadeh, Hadiseh, Nabati, Parisa. Numerical simulation of two link robotic manipulator with white and colored noise. سامانه مدیریت نشریات علمی, 1403; 12(1): 149-158. doi: 10.22034/cmde.2023.54929.2283

Numerical simulation of two link robotic manipulator with white and colored noise

Computational Methods for Differential Equations
مقاله 12، دوره 12، شماره 1، فروردین 2024، صفحه 149-158    اصل مقاله (700.91 K)
نوع مقاله: Research Paper
شناسه دیجیتال (DOI): 10.22034/cmde.2023.54929.2283
نویسندگان
Hadiseh Babazadeh1؛ Parisa Nabati* 2
1Faculty of Electrical Engineering, Urmia University of Technology, Urmia, Iran.
2Faculty of Science, Urmia University of Technology, Urmia, Iran.
چکیده
The main purpose of this paper is to introduce a new method to analyze the effects of the white and colored noise perturbations on the robotic arms. To show the efficiency of the presented idea the simplest manipulator, two link robotic arm, is considered. Most previous noise analyses of manipulators are done using mechanical or electrical modeling. Applying exact kinematic equations of the robots is the novelty of the proposed research. For this purpose, by adding white and colored noise terms in each angle function of the robotic arm, the end effector linear velocity is studied. Also, mechanical variation's effect on the final velocity in noisy space is considered. The longer the length of the links, the more the noise effect. Analysis of simulation results shows that the root mean square error in 2nd order is more than when angle functions are of the first order. Also, the mean square error is less when colored noise is added in comparison to the white noise. The Matlab programming is used to perform numerical examples to show the efficiency and accuracy of the presented idea.
کلیدواژه‌ها
Colored noise؛ Jacobian؛ Stochastic differential equation؛ Two link robot؛ Velocity kinematics؛ White noise
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