摘要
利用蒙特卡洛技术模拟具有任意概率分布的原始误差,抽样计算机器人手部位姿误差数模,然后在数值上完成机器人在其可达工作空间内的位姿精度的概率等高线、概率密度函数(频数直方图)和统计数字特征的分析.最后以一个六自由度关节型机器人为例,进行了数值计算。
This paper deals with monte carlo technique for analysing numerically position-al and orientational error of industrial robot linkage.By means of the technique,the distribution contours,probability density functions(histogram)and other statisticcharacteristics of positional and orientational error of robot hand can be obtainedthrough sampling source error with any density function and then simulating errormodel.For illustration,a 6 DOF robot linkage is taken as a numerical example. robot linkage, error,probability,Monte-carlo,numerical calculation.
出处
《机器人》
EI
1988年第4期1-6,共6页
Robot
