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Motion Reliability Modeling and Evaluation for Manipulator Path Planning Task

机译：机械手路径规划任务的运动可靠性建模和评估

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摘要

Motion reliability as a criterion can reflect the accuracy of manipulator in completing operations. Since path planning task takes a significant role in operations of manipulator, the motion reliability evaluation of path planning task is discussed in the paper. First, a modeling method for motion reliability is proposed by taking factors related to position accuracy of manipulator into account. In the model, multidimensional integral for PDF is carried out to calculate motion reliability. Considering the complex of multidimensional integral, the approach of equivalent extreme value is introduced, with which multidimensional integral is converted into one dimensional integral for convenient calculation. Then a method based on the maximum entropy principle is proposed for model calculation. With the method, the PDF can be obtained efficiently at the state of maximum entropy. As a result, the evaluation of motion reliability can be achieved by one dimensional integral for PDF. Simulations on a particular path planning task are carried out, with which the feasibility and effectiveness of the proposed methods are verified. In addition, the modeling method which takes the factors related to position accuracy into account can represent the contributions of these factors to motion reliability. And the model calculation method can achieve motion reliability evaluation with high precision and efficiency.
机译：运动可靠性作为标准可以反映机械手在完成操作中的准确性。由于路径规划任务在机械手的操作中起着重要作用，因此本文讨论了路径规划任务的运动可靠性评估。首先，通过考虑与机械手位置精度有关的因素，提出了一种运动可靠性的建模方法。在该模型中，对PDF执行多维积分以计算运动可靠性。考虑到多维积分的复杂性，引入了等效极值的方法，将多维积分转换为一维积分以方便计算。然后提出了一种基于最大熵原理的模型计算方法。利用该方法，可以在最大熵的状态下有效地获得PDF。结果，可以通过PDF的一维积分来实现运动可靠性的评估。对特定路径规划任务进行了仿真，验证了所提出方法的可行性和有效性。另外，考虑与位置精度有关的因素的建模方法可以代表这些因素对运动可靠性的贡献。该模型计算方法可以实现高精度，高效率的运动可靠性评估。

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  • 来源
    《Mathematical Problems in Engineering》 |2015年第5期|937565.1-937565.13|共13页
  • 作者

    Li Tong; Jia Qingxuan; Chen Gang; Sun Hanxu;

  • 作者单位

    Beijing Univ Posts & Telecommun, Sch Automat, Beijing 100876, Peoples R China.;

    Beijing Univ Posts & Telecommun, Sch Automat, Beijing 100876, Peoples R China.;

    Beijing Univ Posts & Telecommun, Sch Automat, Beijing 100876, Peoples R China.;

    Beijing Univ Posts & Telecommun, Sch Automat, Beijing 100876, Peoples R China.;

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