Estimation of the non-parametric density function to characterize the reconfiguration times used by the controllers of a Planar Robot prototype
DOI:
https://doi.org/10.47187/perspectivas.vol3iss2.pp9-15.2021Keywords:
Density Function, Mean Square Error, Reliability, KernelAbstract
This paper presents a prototype of a planar robot, which has two controllers to solve inverse cinematic trajectories, so that, if the main controller fails, the other controller is able to regain control of the prototype in the shortest possible time, solving the current trajectory. This process is called reconfiguration. This study aims to estimate a non-parametric density function capable of characterizing the behavior of the times used by the controllers for reconfiguration. The function has been determined by the kernel or kernel method and the best estimate is obtained with the Normal or Gaussian kernel under the mean square error criterion and based on Silverman's proposal for the selection of the bandwidth. In conclusion, the reliability of the controllers is directly related to the designed trajectory.
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