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一种高效的概率-证据混合工业机器人定位精度可靠性分析方法 被引量:6

An efficient reliability analysis method for positioning accuracy of industrial robot through probability and evidence theory
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摘要 针对工业机器人存在的一类随机和认知不确定性混合的问题,提出一种高效的概率-证据混合工业机器人定位精度可靠性分析方法。首先,建立工业机器人运动学模型,并构建其定位精度可靠性分析的功能函数;其次,通过均匀化方法将证据变量等效为概率变量并构建Kriging代理模型;最后,在常规概率-证据混合方法中使用建立的Kriging代理模型替代原功能函数,计算工业机器人定位精度可靠度区间。将蒙特卡洛模拟法与常规方法的计算结果作为参照解,结果表明本文提出的方法在保证精度的前提下可有效地提高工业机器人定位精度可靠性分析的效率。 An efficient reliability analysis method based on the probability and evidence hybrid theory for positioning accuracy of industrial robot is proposed in this paper.The proposed method can be used to deal with mixed problems of randomness and cognitive uncertainty.Firstly,a kinematic model of industrial robot is established and the performance function for the positioning accuracy reliability analysis is constructed.Secondly,the evidence variables are equivalent as probability variables using a uniformity approach and a Kriging model is constructed.Finally,the constructed Kriging model is used to replace the original performance function in the conventional probabilistic and evidence mixed method to analyze the reliability interval of positioning accuracy for industrial robots.The results of Monte Carlo simulation method and conventional method are used as the reference,it is shown that the proposed method can effectively improve the computational efficiency for positioning accuracy of industrial robot on the premise of ensuring the accuracy.
作者 梁云飞 张德权 彭周源 LIANG Yunfei;ZHANG Dequan;PENG Zhouyuan(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China)
出处 《燕山大学学报》 CAS 北大核心 2022年第4期309-318,共10页 Journal of Yanshan University
基金 国家自然科学基金资助项目(51905146) 河北省重点研发计划资助项目(19211808D) 省部共建电工装备可靠性与智能化国家重点实验室(河北工业大学)优秀青年创新基金(EERI_OY2020005)。
关键词 工业机器人 定位精度 可靠性分析 证据理论 KRIGING模型 industrial robot positioning accuracy reliability analysis evidence theory Kriging model
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