with interval uncertainty

When the kinematic parameters θ_i, d_i, α_i, a_i have no fixed value but having the values falling in the intervals [θ_i], [d_i], [α_i], [a_i] randomly, expanding the Eq. (2) with the intervals, we get,

           (3)

with

solution of the interval computational model of robot with uncertain geometric parameters

 

(1) Brief review of some definitions and properties in interval mathematics [7-8]

For two interval number  and

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