英语其它相关毕业论文arelialbleapproachtocomputetheforwardkinematicsofro

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1、XX大学毕业论文ARelialbleApproachtoComputetheForwardKinematicsofRobotwithUncertainGeometricParameters姓名：2014年6月25日ARelialbleApproachtoComputetheForwardKinematicsofRobotwithUncertainGeometricParametersABSTRACT:Uncertaintieswidelyexistinengineeringstructuralanalysisandmechanicalequipm

2、entdesigns,andtheycannotalwaysbeneglected・Theprobabilisticmethod,thefuzzymethodandtheintervalmethodarethethreemajorapproachestomodeluncertaintiesatpresent.Byrepresentingalltheuncertainlengthandtheuncertaintwistofthelinkparameters,andtheuncertaindistanceandtheuncertainanglebet

3、weenthelinksasintervalnumbers,thestaticpose(positionandorientation)oftherobotendeffectorinspacewasobtainedaccuratelybyevaluatingintervalfunctions.Overestimationisamajordrawbackinintervalcomputation.Areliablecomputationapproachisproposedtoovercomeit.Thepresentedapproachisbased

4、ontheinclusionmonotonepropertyofintervalmathematicsandthephysical/realmeansexpressedbytheintervalfunction.Theintervalfunctionwasevaluatedbysolvingthecorrespondingoptimizationproblemstodeterminetheendpoints/boundsofeveryintervalelementofthesolution.Moreover,anintelligentalgori

5、thmnamedasreal-codegeneticalgorithmwasusedtolocatetheglobaloptimaoftheseoptimizationproblems.Beforeusingthepresentapproachtodeterminetheresponseintervalofuncertainrobotsystem,somemathematicalexampleswereusedtoexamineitsefficiencyalso.Keywords:robotkinematics;intervalanalysis;

6、globaloptimization;uncertaingeometryparameterIntroductionWhencomputingtherobotforwardkinematic,thenominalvaluesforthelinkandjointparametersprovidedintheusermanualsareused.Duetothemanufacturingtolerance,theassemblingerrorandpartwear,theactualvaluesforthekinematicparametersarea

7、lwaysdifferentfromthegivenone.Sotheactualworkingenvelopisdifferentfromtheonereadingfromtherobotcontrollercomputingwiththenominalparameters.TheMonteCarlomethodisappliedinastatisticway,butthecomputationistime-consumingtoemulateallstates[1].Theprobabilisticmethod,thefuzzymethoda

8、ndtheintervalmethodarethethreemajorapproachestomodeluncertaintiesatp