基于熵不确定性概念的机器人位姿精度理论(Ⅲ)——机器人DH参数误差概率分布数学模型(英文)

Robot Pose Accuracy Theory Based on Entropy Uncertainty Concept(Ⅲ) ——Probability Distribution Model of Robot DH Parameter Error

基于熵不确定性概念的机器人位姿精度理论能够客观、有效地综合评价机器人位姿精度,在对该理论的评价指标体系及其公式的前期研究的基础上,本文首先分析机器人机构各随机误差源对DH参数的影响,推导评价指标公式中非常关键的机器人DH参数误差概率分布的数学模型。

Robot pose accuracy theory based on entropy uncertainty concept is a comprehensive method of objectively, effectively evaluating robot pose accuracy. By studying evaluation index system and corresponding formulae of this theory in the ealier stage of study, this paper first analyzes the effect of random error source in robot mechanism upon Denavit Hartenberg(DH) parameters, and derives the probability distribution model of robot DH parameter error which is very pivotal in deriving evaluation index formulae, thereby advancing the development of robot pose accuracy theory by means of entropy uncertainty concept.Robot pose accuracy theory based on entropy uncertainty concept is a comprehensive method of objectively, effectively evaluating robot pose accuracy. By studying evaluation index system and corresponding formulae of this theory in the ealier stage of study, this paper first analyzes the effect of random error source in robot mechanism upon Denavit Hartenberg(DH) parameters, and derives the probability distribution model of robot DH parameter error which is very pivotal in deriving evaluation index formulae, thereby advancing the development of robot pose accuracy theory by means of entropy uncertainty concept.