Motion Reliability Analysis of 6-DOF Industrial Robot

To evaluate the accuracy of human–robot interaction, proposed a strategy to calculate the reliability of the motion of the end-effector of a 6-DOF industrial robot in the task space. The envelope method is introduced to analyze the reliability model, which is based on the principle of expressing the envelope function generated by the motion error of the end-effector in a segmented hyperplane approximation, transforming the time-dependent reliability problem into a time-independent reliability problem, and linearizing the error function using Taylor's formula, while eliminating redundant points in the covariance matrix in the calculation process, so that it satisfies the positive definite condition, and improves the envelope accuracy. The simulation example shows that the method has good efficiency and accuracy in reliability model analysis.