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

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Babazadeh Hadiseh; Nabati Parisa

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Journal Paper

Paper Information

Journal: Computational Methods for Differential Equations Year:2024 | Volume:12 | Issue:1 Page(s): 149-158

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Information Journal Paper

Title

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

Author(s)

Babazadeh Hadiseh | Nabati Parisa | Issue Writer Certificate

Keywords

Colored noise

Jacobian

Stochastic differential equation

Two link robot

Velocity kinematics

White noise

Abstract

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.

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