基于熵不确定性概念的机器人位姿精度理论(六)——位姿精度分析的计算机仿真系统

Robot Pose Accuracy Theory Based on Entropy Uncertainty Concept (6)——Computer Emulation System for Analyzing Pose Accuracy

基于熵不确定性概念的机器人位姿精度评价指标的大小同机器人各参数误差的大小及其概率分布有密切的关系。本文将建立机器人位姿精度分析的计算机仿真系统,利用统计模拟方法,通过改变由机器人机构误差源误差引起的各参数的大小及概率分布,考察评价指标的相应变化,找出影响评价指标的因素。

Robot pose accuracy evaluation indexes based on entropy uncertainty concept have a close relationship with the magnitude and distribution of robot parameter errors. This paper will develop computer emulaiton system for analyzing robot pose accuracy, utilizing computer statistical simulation method and changing the magnitude and distribution of robot parameter errors caused by robot mechanism error sources, then see about the corresponding change of evaluation indexes and find out the influence factors.