基于熵不确定性概念的机器人位姿精度理论(5)——评价指标的计算机数值计算方法

Robot pose accuracy theory based on entropy uncertainty concept(5)——Computer numerical method of calculating evaluation indexes

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。针对基于熵不确定性概念的机器人位姿精度评价指标计算公式中被积函数复杂、积分重数较多的特点 ,实际运算中只能利用容量大、计算速度快的计算机进行数值求解。本文就计算机数值积分计算精度、计算稳定性、运算时间与计算方法、积分节点数目及节点分布情况的关系进行分析 。

Robot pose accuracy theory based on entropy uncertainty concept can objectively and effectively evaluate robot pose accuracy.Because of the complicated integrand in the formulae which calculates robot pose accuracy evaluation indexes based on entropy uncertainty concept and because of the multiplicity of integral,computer with great capability and rapid speed should be used in actual operation to carry out numerical calculating.This paper analyzes the relationship between computational accuracy,computational stability,computational time of numerical integration and integrative approach,the number of integrative nodes,distribution of integrative nodes,and applies the analytical results to the calculating of evaluation indexes.