What is Uncertainty? write a short note.
1 Answer


Uncertainty in robot task planning knows the exact position and orientation of the objects/parts being manipulated in the external environment of the robot.

An uncertainty always occurs when a robot is being made to do a particular task.

The factors for uncertainty are various non-linearities that are present in the robotic system such as tolerances, backlash, the weight of the system, mass, inertia, friction, resistance, etc.

Uncertainty reduces the positional accuracy of the system. In uncertainty, the variables represent the exact position and the orientation of the parts will have a nominal value with an error term added known as uncertainty.

The exact position and orientation of the part which are represented by exact variables,

$ \mathrm{V}^{\text {exact }}=\mathrm{V}^{\text {nominal }}+\Delta \mathrm{V}\\ $

$\|\mathrm{V}\| \leq \Delta \mathrm{V}^{\max }$

The error bound $\Delta v^{\max }$ max represents tolerances in the size of a machined part.

A strategy must be devised which allows for the completion of the task in spite of the uncertainties in the world model. For example, if a command is given to the robot to move at 10 cm/sec,it will not move at 10 cm /sec but it will be moving at 9.9 cm/sec. + 0.1 is the uncertainty or the tolerance band.

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